scholarly journals Position and Posture Measurements Using Laser Projection Markers for Infrastructure Inspection

Electronics ◽  
2020 ◽  
Vol 9 (5) ◽  
pp. 807
Author(s):  
Tohru Sasaki ◽  
Ryo Shioya ◽  
Toshitaka Sakai ◽  
Shunki Kinoshita ◽  
Takahito Nojiri ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Global Positioning System ◽  
Measurement Errors ◽  
Image Sensor ◽  
Target Structure ◽  
Inspection Method ◽  
Global Positioning ◽  
Conventional Structure ◽  
Infrastructure Inspection

Infrastructure such as roads, tunnels and bridges needs periodical inspection. The conventional structure inspection method, in which a human inspector uses a crack gauge, may lead to problems such as measurement errors and lengthy inspection times. Mobile robots and image processing have been used in the infrastructure inspection field. An image sensor or any sensor is used for measuring the state of the infrastructures. It is necessary that the mobile robot knows its own position and posture during automatic inspection. Generally, the Global Positioning System (GPS) has been used to sense the position of the mobile robot. However, GPS is not usable in places with the ceilings such as under bridges and in tunnels. Therefore, we developed a system to sense the position and posture of mobile robots. This system uses laser projection markers and cameras, and it has a very simple configuration. The camera photographs a target structure and projection laser markers, and the position and posture of the camera and mobile robot were calculated by an image application. The system makes infrastructure inspection more effective and decreases the time needed for inspection. In this paper, we examined the number of necessary laser markers, and we verified our method by experiment.

Robust Positioning and Navigation of a Mobile Robot in an Urban Environment Using a Motion Estimator

Robotica ◽  
2019 ◽  
Vol 37 (08) ◽  
pp. 1320-1331 ◽  
Author(s):  
Jongwoo An ◽  
Jangmyung Lee
Keyword(s):  
Mobile Robot ◽  
Urban Environment ◽  
Global Positioning System ◽  
Short Term Memory ◽  
Fault Detection And Isolation ◽  
Gps Data ◽  
University Campus ◽  
Short Term ◽  
Global Positioning ◽  
Minimum Number

SummaryRobust positioning and navigation of a mobile robot in an urban environment is implemented by fusing the Global Positioning System (GPS) and Inertial Navigation System (INS) data with the aid of a motion estimator. To select and isolate malicious satellite signals and guarantee the minimum number of GPS signals for the localization, an enhanced fault detection and isolation (FDI) algorithm with a short-term memory has been developed in this research. When there are sufficient satellite signals for positioning, the horizontal dilution of precision (HDOP) has been applied for selecting the best four satellite signals to localize the mobile robot. Then, the GPS data are fused with INS data by a Kalman filter (KF) for a straight path and a curved motion estimator (CME) for a curved path. That is, the INS data are properly fused to the GPS data through the KF or CME process. To verify the effectiveness of the proposed algorithm, experiments using a mobile robot have been carried out on a university campus.

scholarly journals A Multi-Robot Formation Platform based on an Indoor Global Positioning System

2019 ◽  
Vol 9 (6) ◽  
pp. 1165
Author(s):  
Hong’an Yang ◽  
Xuefeng Bao ◽  
Shaohua Zhang ◽  
Xu Wang
Keyword(s):  
Mobile Robot ◽  
Global Positioning System ◽  
Formation Control ◽  
Transmission Control Protocol ◽  
Indoor Navigation ◽  
Wheeled Mobile Robot ◽  
Positioning System ◽  
Position Information ◽  
Global Positioning ◽  
Multi Robot

Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and low-cost multi-robot formation platform includes the indoor global-positioning system, the multi-robot communication system, and the wheeled mobile robot hardware. For each wheeled mobile robot in our platform, its real-time position information in the centimeter‑level precise is obtained by the Marvelmind Indoor Navigation System and orientation information is obtained by the six-degree-of-freedom gyroscope. The Transmission Control Protocol/Internet Protocol (TCP/IP) wireless communication infrastructure is selected to support the communication among robots and the data collection in the process of experiments. Finally, a set of leader–follower formation experiments are performed by our platform, which include three trajectory tracking experiments of different types and numbers under deterministic environment and a formation-maintaining experiment with external disturbances. The results illustrate that our multi-robot formation platform can be effectively used as a general testbed to evaluate and verify the feasibility and correctness of the theoretical methods in the multi-robot formation. What is more, the proposed simple and general formation platform is beneficial to the development of platforms in the fields of multi-robot coordination, formation control, and search and rescue missions.

Optical Flow-Based Monocular Vision/INS Integrated Navigation for Mobile Robot Indoors

2014 ◽  
Vol 538 ◽  
pp. 375-378 ◽  
Author(s):  
Xi Yuan Chen ◽  
Jing Peng Gao ◽  
Yuan Xu ◽  
Qing Hua Li
Keyword(s):  
Mobile Robot ◽  
Optical Flow ◽  
Global Positioning System ◽  
Autonomous Navigation ◽  
Image Sequences ◽  
Velocity Estimation ◽  
Monocular Vision ◽  
Integrated Navigation ◽  
Global Positioning ◽  
Flow Algorithm

This paper proposed a new algorithm for optical flow-based monocular vision (MV)/ inertial navigation system (INS) integrated navigation. In this mode, a downward-looking camera is used to get the image sequences, which is used to estimate the velocity of the mobile robot by using optical flow algorithm. INS is employed for the yaw variation. In order to evaluate the performance of the proposed method, a real indoor test has done. The result shows that the proposed method has good performance for velocity estimation. It can be applied to the autonomous navigation of mobile robots when the Global Positioning System (GPS) and code wheel is unavailable.

scholarly journals Detection and elimination method for deception jamming based on an antenna array

2018 ◽  
Vol 14 (5) ◽  
pp. 155014771877446 ◽  
Author(s):  
Shuyan Ni ◽  
Jianhua Cui ◽  
Naiping Cheng ◽  
Yurong Liao
Keyword(s):  
Global Positioning System ◽  
Measurement Errors ◽  
Integer Ambiguity ◽  
Double Difference ◽  
Fast Method ◽  
Short Baseline ◽  
Elimination Method ◽  
Medium Length ◽  
Global Positioning ◽  
Jamming Detection

A global positioning system is an important way of locating an aircraft, while deception jamming can affect the positioning accuracy of such navigation. Considering this, a detection and elimination method for deception jamming is proposed based on a specially designed array for the aircraft. The jamming is detected by comparing the double-difference observation of the carrier phases of two different signals to a certain threshold derived according to the measurement errors of the receiver. To estimate the jamming direction with high accuracy, meanwhile considering the feasibility of airborne installation, a novel configurated array combining medium-length baseline with short baseline is designed, and a fast method to solve the integer ambiguity is discussed. After jamming detection, the nulling of the array beam is pointed to the jamming source through the orthogonal vector weighting to suppress jamming. The validity of the method is verified by computer simulations.

scholarly journals Uji Presisi dari Nonholonomic Mobile Robot pada Rancang Bangun Sistem Navigasi

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Desmas A. Patriawan ◽  
Bagoes P. Natakusuma ◽  
Ahmad Anas Arifin ◽  
Hasan S. Maulana ◽  
Hery Irawan ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Global Positioning System ◽  
Measurement Unit ◽  
Positioning System ◽  
Nonholonomic Mobile Robot ◽  
Global Positioning

Navigasi menjadi bagian yang penting bagi kendaraan. Global positioning system (GPS) merupakan sistem navigasi yang paling banyak digunakan pada kendaraan. Namun dengan akurasi 5-10 meter membuat GPS tidak bisa diaplikasikan dalam bagian sistem kendali pada kendaraan. Penambahan sensor inertia measurement unit (IMU) diharapkan mampu menambahkan akurasi pada Gerakan kendaraan. Kendaran yang digunakan adalah robot beroda dengan sistem nonholonomic. Pada robot ini dipasang Sensor IMU, GPS dan kontroler supaya robot tersebut bisa berputar lalu melaju secara lurus dengan kordinat yang sudah ditentukan. Hasil pengujian didapatkan robot memiliki respon time sebesar 4.1 detik tanpa kontroler dan 2.1 detik dengan kontroler. Akurasi sudut dari 5  menjadi 2 .

scholarly journals One Approach to the Integration of Low-Cost Inertial Sensors and Global Positioning System for Mobile Robots

2011 ◽  
Vol 44 (1) ◽  
pp. 10746-10751
Author(s):  
Vasko Sazdovski ◽  
Mile Stankovski ◽  
Tatjana Kolemisevska Gugulovska ◽  
Stojce Deskovski
Keyword(s):  
Mobile Robots ◽  
Global Positioning System ◽  
Inertial Sensors ◽  
Low Cost ◽  
Positioning System ◽  
Global Positioning
Sign in / Sign up

Export Citation Format

Share Document