An Analysis Of Mobile Robot Navigation Algorithms In Unknown Environments

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An Analysis of Mobile Robot Navigation Algorithms in Unknown Environments

Author : James Sze Ng
Publisher :
ISBN 13 :
Total Pages : 203 pages
Book Rating : 4.:/5 (93 download)

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Book Synopsis An Analysis of Mobile Robot Navigation Algorithms in Unknown Environments by : James Sze Ng

Download or read book An Analysis of Mobile Robot Navigation Algorithms in Unknown Environments written by James Sze Ng and published by . This book was released on 2010 with total page 203 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis investigates robot navigation algorithms in unknown 2 dimensional environments with the aim of improving performance. The algorithms which perform such navigation are called Bug Algorithms [1,30,62]. Existing algorithms are implemented on a robot simulation system called EyeSim [7] and their performances are measured and analyzed. Similarities and differences in the Bug Family are explored particularly in relation to the methods used to guarantee termination. Seven methods used to guarantee termination in the existing literature are noted and form the basis of the new Bug algorithms: OneBug, MultiBug, LeaveBug, Bug1+ and SensorBug. A new method is created which restricts the leave points to vertices of convex obstacles. SensorBug is a new algorithm designed to use range sensors and with three performance criteria in mind: data gathering frequency, amount of scanning and path length. SensorBug reduces the frequency at which data about the visible environment is gathered and the amount of scanning for each time data is gathered. It is shown that despite the reductions, correct termination is still guaranteed for any environment. Curv1 [19], a robot navigation algorithm, was developed to guide a robot to the target in an unknown environment with a single non-self intersecting guide track. Via an intermediate algorithm Curv2, Curv1 is expanded into a new algorithm, Curv3. Curv3 is capable of pairing multiple start and targets and coping with self-intersecting track.

Principles of Robot Motion

Author : Howie Choset
Publisher : MIT Press
ISBN 13 : 9780262033275
Total Pages : 642 pages
Book Rating : 4.0/5 (332 download)

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Book Synopsis Principles of Robot Motion by : Howie Choset

Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

Machine Learning-based Natural Scene Recognition for Mobile Robot Localization in An Unknown Environment

Author : Xiaochun Wang
Publisher : Springer
ISBN 13 : 981139217X
Total Pages : 328 pages
Book Rating : 4.8/5 (113 download)

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Book Synopsis Machine Learning-based Natural Scene Recognition for Mobile Robot Localization in An Unknown Environment by : Xiaochun Wang

Download or read book Machine Learning-based Natural Scene Recognition for Mobile Robot Localization in An Unknown Environment written by Xiaochun Wang and published by Springer. This book was released on 2019-08-12 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book advances research on mobile robot localization in unknown environments by focusing on machine-learning-based natural scene recognition. The respective chapters highlight the latest developments in vision-based machine perception and machine learning research for localization applications, and cover such topics as: image-segmentation-based visual perceptual grouping for the efficient identification of objects composing unknown environments; classification-based rapid object recognition for the semantic analysis of natural scenes in unknown environments; the present understanding of the Prefrontal Cortex working memory mechanism and its biological processes for human-like localization; and the application of this present understanding to improve mobile robot localization. The book also features a perspective on bridging the gap between feature representations and decision-making using reinforcement learning, laying the groundwork for future advances in mobile robot navigation research.

Safe Robot Navigation Among Moving and Steady Obstacles

Author : Andrey V. Savkin
Publisher : Butterworth-Heinemann
ISBN 13 : 0128037571
Total Pages : 360 pages
Book Rating : 4.1/5 (28 download)

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Book Synopsis Safe Robot Navigation Among Moving and Steady Obstacles by : Andrey V. Savkin

Download or read book Safe Robot Navigation Among Moving and Steady Obstacles written by Andrey V. Savkin and published by Butterworth-Heinemann. This book was released on 2015-09-25 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control

Vision Based Autonomous Robot Navigation

Author : Amitava Chatterjee
Publisher : Springer
ISBN 13 : 3642339654
Total Pages : 235 pages
Book Rating : 4.6/5 (423 download)

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Book Synopsis Vision Based Autonomous Robot Navigation by : Amitava Chatterjee

Download or read book Vision Based Autonomous Robot Navigation written by Amitava Chatterjee and published by Springer. This book was released on 2012-10-13 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.

Bio-inspired Approaches for Real-Time Navigation of Mobile Robots in Unknown Environments

Author : Lei Wang
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)

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Book Synopsis Bio-inspired Approaches for Real-Time Navigation of Mobile Robots in Unknown Environments by : Lei Wang

Download or read book Bio-inspired Approaches for Real-Time Navigation of Mobile Robots in Unknown Environments written by Lei Wang and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Rapid Automation: Concepts, Methodologies, Tools, and Applications

Author : Management Association, Information Resources
Publisher : IGI Global
ISBN 13 : 1522580611
Total Pages : 1566 pages
Book Rating : 4.5/5 (225 download)

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Book Synopsis Rapid Automation: Concepts, Methodologies, Tools, and Applications by : Management Association, Information Resources

Download or read book Rapid Automation: Concepts, Methodologies, Tools, and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2019-03-01 with total page 1566 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed the business industry. Providing successful techniques in robotic design allows for increased autonomous mobility, which leads to a greater productivity and production level. Rapid Automation: Concepts, Methodologies, Tools, and Applications provides innovative insights into the state-of-the-art technologies in the design and development of robotics and their real-world applications in business processes. Highlighting a range of topics such as workflow automation tools, human-computer interaction, and swarm robotics, this multi-volume book is ideally designed for computer engineers, business managers, robotic developers, business and IT professionals, academicians, and researchers.

A Hybrid Sampling-based Path Planning Algorithm for Mobile Robot Navigation in Unknown Environments

Author : Weria Khaksar
Publisher :
ISBN 13 :
Total Pages : 644 pages
Book Rating : 4.:/5 (975 download)

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Book Synopsis A Hybrid Sampling-based Path Planning Algorithm for Mobile Robot Navigation in Unknown Environments by : Weria Khaksar

Download or read book A Hybrid Sampling-based Path Planning Algorithm for Mobile Robot Navigation in Unknown Environments written by Weria Khaksar and published by . This book was released on 2013 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Mobile Robot Navigation with Intelligent Infrared Image Interpretation

Author : William L. Fehlman
Publisher : Springer
ISBN 13 : 9781447156949
Total Pages : 0 pages
Book Rating : 4.1/5 (569 download)

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Book Synopsis Mobile Robot Navigation with Intelligent Infrared Image Interpretation by : William L. Fehlman

Download or read book Mobile Robot Navigation with Intelligent Infrared Image Interpretation written by William L. Fehlman and published by Springer. This book was released on 2014-11-29 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots require the ability to make decisions such as "go through the hedges" or "go around the brick wall." Mobile Robot Navigation with Intelligent Infrared Image Interpretation describes in detail an alternative to GPS navigation: a physics-based adaptive Bayesian pattern classification model that uses a passive thermal infrared imaging system to automatically characterize non-heat generating objects in unstructured outdoor environments for mobile robots. The resulting classification model complements an autonomous robot’s situational awareness by providing the ability to classify smaller structures commonly found in the immediate operational environment.

Intelligent Mobile Robot Navigation

Author : Federico Cuesta
Publisher : Springer Science & Business Media
ISBN 13 : 9783540239567
Total Pages : 232 pages
Book Rating : 4.2/5 (395 download)

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Book Synopsis Intelligent Mobile Robot Navigation by : Federico Cuesta

Download or read book Intelligent Mobile Robot Navigation written by Federico Cuesta and published by Springer Science & Business Media. This book was released on 2005-03-11 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Mobile Robot Navigation builds upon the application of fuzzy logic to the area of intelligent control of mobile robots. Reactive, planned, and teleoperated techniques are considered, leading to the development of novel fuzzy control systems for perception and navigation of nonholonomic autonomous vehicles. The unique feature of this monograph lies in its comprehensive treatment of the problem, from the theoretical development of the various schemes down to the real-time implementation of algorithms on mobile robot prototypes. As such, the book spans different domains ranging from mobile robots to intelligent transportation systems, from automatic control to artificial intelligence.

Autonomous Navigation of a Mobile Robot in an Unknown Environment

Author : David H. Kincaid
Publisher :
ISBN 13 :
Total Pages : 252 pages
Book Rating : 4.:/5 (19 download)

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Book Synopsis Autonomous Navigation of a Mobile Robot in an Unknown Environment by : David H. Kincaid

Download or read book Autonomous Navigation of a Mobile Robot in an Unknown Environment written by David H. Kincaid and published by . This book was released on 1988 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Introduction to AI Robotics, second edition

Author : Robin R. Murphy
Publisher : MIT Press
ISBN 13 : 026203848X
Total Pages : 649 pages
Book Rating : 4.2/5 (62 download)

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Book Synopsis Introduction to AI Robotics, second edition by : Robin R. Murphy

Download or read book Introduction to AI Robotics, second edition written by Robin R. Murphy and published by MIT Press. This book was released on 2019-10-01 with total page 649 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive survey of artificial intelligence algorithms and programming organization for robot systems, combining theoretical rigor and practical applications. This textbook offers a comprehensive survey of artificial intelligence (AI) algorithms and programming organization for robot systems. Readers who master the topics covered will be able to design and evaluate an artificially intelligent robot for applications involving sensing, acting, planning, and learning. A background in AI is not required; the book introduces key AI topics from all AI subdisciplines throughout the book and explains how they contribute to autonomous capabilities. This second edition is a major expansion and reorganization of the first edition, reflecting the dramatic advances made in AI over the past fifteen years. An introductory overview provides a framework for thinking about AI for robotics, distinguishing between the fundamentally different design paradigms of automation and autonomy. The book then discusses the reactive functionality of sensing and acting in AI robotics; introduces the deliberative functions most often associated with intelligence and the capability of autonomous initiative; surveys multi-robot systems and (in a new chapter) human-robot interaction; and offers a “metaview” of how to design and evaluate autonomous systems and the ethical considerations in doing so. New material covers locomotion, simultaneous localization and mapping, human-robot interaction, machine learning, and ethics. Each chapter includes exercises, and many chapters provide case studies. Endnotes point to additional reading, highlight advanced topics, and offer robot trivia.

Mobile Robot Localization and Map Building

Author : Jose A. Castellanos
Publisher : Springer Science & Business Media
ISBN 13 : 146154405X
Total Pages : 212 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Mobile Robot Localization and Map Building by : Jose A. Castellanos

Download or read book Mobile Robot Localization and Map Building written by Jose A. Castellanos and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial intelligence to perform some of the most hazardous, risky or monotonous tasks historically assigned to human beings. Among those machines, mobile robots are undoubtedly at the cutting edge of current research directions. A rough classification of mobile robots can be considered: on the one hand, mobile robots oriented to human-made indoor environments; on the other hand, mobile robots oriented to unstructured outdoor environments, which could include flying oriented robots, space-oriented robots and underwater robots. The most common motion mechanism for surface mobile robots is the wheel-based mechanism, adapted both to flat surfaces, found in human-made environments, and to rough terrain, found in outdoor environments. However, some researchers have reported successful developments with leg-based mobile robots capable of climbing up stairs, although they require further investigation. The research work presented here focuses on wheel-based mobile robots that navigate in human-made indoor environments. The main problems described throughout this book are: Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element. A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space. The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach. The book emphasizes the generality of the solutions proposed to the different problems and their independence with respect to the exteroceptive sensors mounted on the mobile robot. Theoretical results are complemented by real experiments, where the use of multisensor-based approaches is highlighted.

Mobile Robots Navigation

Author : Luis Payá
Publisher : MDPI
ISBN 13 : 3039286706
Total Pages : 298 pages
Book Rating : 4.0/5 (392 download)

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Book Synopsis Mobile Robots Navigation by : Luis Payá

Download or read book Mobile Robots Navigation written by Luis Payá and published by MDPI. This book was released on 2020-11-13 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.

Robotic Systems: Concepts, Methodologies, Tools, and Applications

Author : Management Association, Information Resources
Publisher : IGI Global
ISBN 13 : 1799817555
Total Pages : 2075 pages
Book Rating : 4.7/5 (998 download)

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Book Synopsis Robotic Systems: Concepts, Methodologies, Tools, and Applications by : Management Association, Information Resources

Download or read book Robotic Systems: Concepts, Methodologies, Tools, and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.

Autonomous Mobile Robots and Multi-Robot Systems

Author : Eugene Kagan
Publisher : John Wiley & Sons
ISBN 13 : 1119212863
Total Pages : 340 pages
Book Rating : 4.1/5 (192 download)

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Book Synopsis Autonomous Mobile Robots and Multi-Robot Systems by : Eugene Kagan

Download or read book Autonomous Mobile Robots and Multi-Robot Systems written by Eugene Kagan and published by John Wiley & Sons. This book was released on 2019-12-16 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

Applied Informatics

Author : Hector Florez
Publisher : Springer Nature
ISBN 13 : 3030324753
Total Pages : 548 pages
Book Rating : 4.0/5 (33 download)

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Book Synopsis Applied Informatics by : Hector Florez

Download or read book Applied Informatics written by Hector Florez and published by Springer Nature. This book was released on 2019-10-28 with total page 548 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed papers of the Second International Conference on Applied Informatics, ICAI 2019, held in Madrid, Spain, in November 2019. The 37 full papers and one short paper were carefully reviewed and selected from 98 submissions. The papers are organized in topical sections on bioinformatics; data analysis; decision systems; health care information systems; IT Architectures; learning management systems; robotic autonomy; security services; socio-technical systems; software design engineering.