scholarly journals Vision Based Obstacle Detection Module for a Wheeled Mobile Robot

10.5772/8997 ◽  
2010 ◽  
Author(s):  
Oscar Montiel ◽  
Alfredo Gonzalez ◽  
Roberto Sepulve
Keyword(s):  
Mobile Robot ◽  
Obstacle Detection ◽  
Wheeled Mobile Robot

A Human-Inspired Method for Point-to-Point and Path-Following Navigation of Mobile Robots

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
F. Heidari ◽  
R. Fotouhi
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Path Following ◽  
Obstacle Detection ◽  
Wheeled Mobile Robot ◽  
Sensor Data ◽  
Integrated Navigation ◽  
Fully Integrated ◽  
Point Motion ◽  
Point To Point

This paper describes a human-inspired method (HIM) and a fully integrated navigation strategy for a wheeled mobile robot in an outdoor farm setting. The proposed strategy is composed of four main actions: sensor data analysis, obstacle detection, obstacle avoidance, and goal seeking. Using these actions, the navigation approach is capable of autonomous row-detection, row-following, and path planning motion in outdoor settings. In order to drive the robot in off-road terrain, it must detect holes or ground depressions (negative obstacles) that are inherent parts of these environments, in real-time at a safe distance from the robot. Key originalities of the proposed approach are its capability to accurately detect both positive (over ground) and negative obstacles, and accurately identify the end of the rows of bushes (e.g., in a farm) and enter the next row. Experimental evaluations were carried out using a differential wheeled mobile robot in different settings. The robot, used for experiments, utilizes a tilting unit, which carries a laser range finder (LRF) to detect objects, and a real-time kinematics differential global positioning system (RTK-DGPS) unit for localization. Experiments demonstrate that the proposed technique is capable of successfully detecting and following rows (path following) as well as robust navigation of the robot for point-to-point motion control.

Design for AGV Based on Binocular Stereo Vision

2011 ◽  
Vol 271-273 ◽  
pp. 137-143
Author(s):  
Lin Feng Xu ◽  
Zhi Xiang Tian
Keyword(s):  
Mobile Robot ◽  
Stereo Vision ◽  
Sliding Mode ◽  
Variable Structure ◽  
Obstacle Detection ◽  
Wheeled Mobile Robot ◽  
Control Law ◽  
Binocular Stereo Vision ◽  
Binocular Stereo ◽  
Sliding Mode Variable Structure

Based on the sliding mode variable structure control theory, the sliding mode control algorithm is proposed for a nonholonomic mobile robot system. The Lyapunov function and exponential approximation law are used for designing the control law of the mobile robot. And the binocular stereo vision method is proposed for the four wheeled AGV to implement the obstacle detection and the depth calculation. Finally, the control law is designed and simulated by the proposed algorithm for the wheeled mobile robot, and the simulation results show that the proposed algorithm is efficient, and also can reduce the chattering of the system, and in the experiment the four wheeled mobile robot can also successfully detect obstacles.

Point to-Point and Path Following Navigation of Mobile Robot in Farm Settings

2014 ◽  
Author(s):  
F. Heidari ◽  
R. Fotouhi
Keyword(s):  
Mobile Robot ◽  
Path Following ◽  
Obstacle Detection ◽  
Wheeled Mobile Robot ◽  
Sensor Data ◽  
Integrated Navigation ◽  
Fully Integrated ◽  
Navigation Strategy ◽  
Point Motion ◽  
Point To Point

A fully integrated navigation strategy of a wheeled mobile robot in farm settings and off-road terrains is described here. The proposed strategy is composed of four main actions which are: sensor data analysis, obstacle detection, obstacle avoidance, and goal seeking. Using these actions, the navigation approach is capable of autonomous row-detection, row-following and path planning motion in outdoor settings such as farms. In order to drive the robot in off-road terrain, it must detect holes or ground depressions (negative obstacles), that are inherent parts of these environments, in real-time at a safe distance from the robot. Key originalities of the proposed approach are its capability to accurately detect both positive (over ground) and negative obstacles, and accurately identify the end of the rows of trees/bushes in farm/orchard and enter the next row. Experimental evaluations were carried out using a differential wheeled mobile robot in different farm settings. The mobile robot, used for experiments, utilizes a tilting unit which carries a laser range finder to detect objects in the environment, and a RTK-DGPS unit for localization. The experiments demonstrate that the proposed technique is capable of successfully detecting and following rows (path following) as well as robust navigation of the robot for point-to-point motion.

Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables*

2020 ◽  
Author(s):  
Roman Chertovskih ◽  
Anna Daryina ◽  
Askhat Diveev ◽  
Dmitry Karamzin ◽  
Fernando L. Pereira ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Front Wheel ◽  
Wheeled Mobile Robot ◽  
State Variables ◽  
Wheel Drive

Recent Patents on Omni-Directional Wheel Applied on Wheeled Mobile Robot

2016 ◽  
Vol 9 (3) ◽  
pp. 215-221
Author(s):  
Junpeng Shao ◽  
Tianhua He ◽  
Jingang Jiang ◽  
Yongde Zhang
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot
Sign in / Sign up

Export Citation Format

Share Document