scholarly journals Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3694
Author(s):  
Mohammed A. H. Ali ◽  
Musa Mailah ◽  
Waheb A. Jabbar ◽  
Khaja Moiduddin ◽  
Wadea Ameen ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Path Planning ◽  
Real Time ◽  
Sensor Fusion ◽  
Navigation System ◽  
Laser Range Finder ◽  
Range Finder ◽  
Smart Vehicles ◽  
Laser Range ◽  
The Road

A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road’s roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot’s path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time.

Development of Auto-Hitching Navigation System for Farm Implements Using Laser Range Finder

2009 ◽  
Vol 52 (5) ◽  
pp. 1793-1803 ◽  
Author(s):  
T. Ahamed ◽  
L. Tian ◽  
T. Takigawa ◽  
Y. Zhang
Keyword(s):  
Navigation System ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range

Development and Experimental Verification of a Person Tracking System of Mobile Robots Using Sensor Fusion of Inertial Measurement Unit and Laser Range Finder for Occlusion Avoidance

2021 ◽  
Vol 33 (1) ◽  
pp. 33-43
Author(s):  
Kazuhiro Funato ◽  
Ryosuke Tasaki ◽  
Hiroto Sakurai ◽  
Kazuhiko Terashima ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Sensor Fusion ◽  
Experimental Verification ◽  
Inertial Measurement Unit ◽  
Tracking System ◽  
Measurement Unit ◽  
Laser Range Finder ◽  
Range Finder ◽  
Inertial Measurement ◽  
Laser Range

The authors have been developing a mobile robot to assist doctors in hospitals in managing medical tools and patient electronic medical records. The robot tracks behind a mobile medical worker while maintaining a constant distance from the worker. However, it was difficult to detect objects in the sensor’s invisible region, called occlusion. In this study, we propose a sensor fusion method to estimate the position of a robot tracking target indirectly by an inertial measurement unit (IMU) in addition to the direct measurement by an laser range finder (LRF) and develop a human tracking system to avoid occlusion by a mobile robot. Based on this, we perform detailed experimental verification of tracking a specified person to verify the validity of the proposed method.

Real-time laser range-finder operation modeling

2017 ◽  
Author(s):  
Dmitry A. Kolchaev ◽  
Yevgeniy R. Muratov ◽  
Michael B. Nikiforov ◽  
Sergei V. Orlov
Keyword(s):  
Real Time ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range

Research on Real-Time Laser Range Finding System

2013 ◽  
Vol 347-350 ◽  
pp. 1053-1058
Author(s):  
Fang Xiu Jia ◽  
Ji Yan Yu ◽  
Zhen Liang Ding ◽  
Feng Yuan
Keyword(s):  
Standard Deviation ◽  
Real Time ◽  
Amplitude Spectrum ◽  
Correction Method ◽  
Laser Range Finder ◽  
Range Finder ◽  
Measurement Standard ◽  
Laser Range ◽  
Frequency Correction ◽  
Better Than

Phase shift laser range finder, as a large-scale, high-precision measurement method, is widely used in industrial and military fields. The traditional laser range finder can not meet the need of real-time, high resolution measurement because of its low anti-jamming capability and time-consuming measurement. Owing to this, multi-channel transmitting and receiving system for phase shift laser range finder based on parallel DSP was designed. Multi-frequency modulation laser can be transmitted and received at the same time, improving the measurement speed and avoiding the wrong data fusion because of target moving. The distance was got by measuring the phase difference between the measurement signal and reference signal, and the Doppler velocity of the target is got by measuring the measurement signals frequency, The measurement signals reference signals were acquired by parallel AD convertors, the phase difference between them was calculated adopting all-phase FFT(apFFT). A new frequency correction method was proposed according to the amplitude spectrum acquired by apFFT, Amplitude spectrum is expanded into Taylor series and the correction value of frequency is calculated by relationship of spectrum lines. Monte Carlo simulation results proved that the new frequency correction method had higher resolution and better stability than Rife method and centro-baric method. The experiments is implemented on a precision guide of 3m-long, on the condition that the sampling frequency of AD converter is 937.5KHz, the apFFT transform point number is 4096, distance and velocity results can be obtained each 10ms, experiments prove that the distance measurement standard deviation better than 0.09mm and the velocity measurement standard deviation better than 0.022m/s are obtained. The system can meet the need of high accuracy ,real-time distance measurement of moving target.

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