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Exploration And Visual Mapping Algorithms Development For Low Cost Mobile Robots
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Book Synopsis Exploration and visual mapping algorithms development for low cost mobile robots by :
Download or read book Exploration and visual mapping algorithms development for low cost mobile robots written by and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Ao mesmo tempo em que a autonomia de robôs pessoais e domésticosaumenta, cresce a necessidade de interação dos mesmos com o ambiente. Ainteração mais básica de um robô com o ambiente é feita pela percepção deste esua navegação. Para uma série de aplicações não é prático prover modelosgeométricos válidos do ambiente a um robô antes de seu uso. O robô necessita, então, criar estes modelos enquanto se movimenta e percebe o meio em que estáinserido através de sensores. Ao mesmo tempo é necessário minimizar acomplexidade requerida quanto a hardware e sensores utilizados. No presentetrabalho, um algoritmo iterativo baseado em entropia é proposto para planejaruma estratégia de exploração visual, permitindo a construção eficaz de um modeloem grafo do ambiente. O algoritmo se baseia na determinação da informaçãopresente em sub-regiões de uma imagem panorâmica 2-D da localização atual dorobô obtida com uma câmera fixa sobre o mesmo. Utilizando a métrica deentropia baseada na Teoria da Informação de Shannon, o algoritmo determina nóspotenciais para os quais deve se prosseguir a exploração. Através de procedimentode Visual Tracking, em conjunto com a técnica SIFT (Scale Invariant FeatureTransform), o algoritmo auxilia a navegação do robô para cada nó novo, onde oprocesso é repetido. Um procedimento baseado em transformações invariáveis adeterminadas variações espaciais (desenvolvidas a partir de Fourier e Mellin) éutilizado para auxiliar o processo de guiar o robô para nós já conhecidos. Tambémé proposto um método baseado na técnica SIFT. Os processos relativos à obtençãode imagens, avaliação, criação do grafo, e prosseguimento dos passos citadoscontinua até que o robô tenha mapeado o ambiente com nível pré-especificado dedetalhes. O conjunto de nós e imagens obtidos são combinados de modo a se criarum modelo em grafo do ambiente. Seguindo os caminhos, nó a nó, um robô podenavegar pelo ambiente já explorado. O método é particularmente adequado paraambientes planos. As componentes do algoritmo proposto foram desenvolvidas etestadas no presente trabalho. Resultados experimentais mostrando a eficácia dosmétodos propostos são apresentados.
Book Synopsis Robotic Mapping and Exploration by : Cyrill Stachniss
Download or read book Robotic Mapping and Exploration written by Cyrill Stachniss and published by Springer. This book was released on 2009-05-06 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Book Synopsis Robot Navigation from Nature by : Michael John Milford
Download or read book Robot Navigation from Nature written by Michael John Milford and published by Springer Science & Business Media. This book was released on 2008-02-11 with total page 203 pages. Available in PDF, EPUB and Kindle. Book excerpt: This pioneering book describes the development of a robot mapping and navigation system inspired by models of the neural mechanisms underlying spatial navigation in the rodent hippocampus. Computational models of animal navigation systems have traditionally had limited performance when implemented on robots. This is the first research to test existing models of rodent spatial mapping and navigation on robots in large, challenging, real world environments.
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.
Download or read book Robot Vision written by Stefan Florczyk and published by John Wiley & Sons. This book was released on 2006-03-06 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book is intended for advanced students in physics, mathematics, computer science, electrical engineering, robotics, engine engineering and for specialists in computer vision and robotics on the techniques for the development of vision-based robot projects. It focusses on autonomous and mobile service robots for indoor work, and teaches the techniques for the development of vision-based robot projects. A basic knowledge of informatics is assumed, but the basic introduction helps to adjust the knowledge of the reader accordingly. A practical treatment of the material enables a comprehensive understanding of how to handle specific problems, such as inhomogeneous illumination or occlusion. With this book, the reader should be able to develop object-oriented programs and show mathematical basic understanding. Such topics as image processing, navigation, camera types and camera calibration structure the described steps of developing further applications of vision-based robot projects.
Book Synopsis Experimental Robotics by : Oussama Khatib
Download or read book Experimental Robotics written by Oussama Khatib and published by Springer Science & Business Media. This book was released on 2008-02-26 with total page 562 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on the novelty of theoretical contributions validated by experimental results. This unique reference presents the latest advances in robotics, with ideas that are conceived conceptually and have been explored experimentally.
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.
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 2014-11-09 with total page 0 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.
Book Synopsis Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots by :
Download or read book Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots written by and published by Universal-Publishers. This book was released on 2011 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Mobile Robots Navigation by : Alejandra Barrera
Download or read book Mobile Robots Navigation written by Alejandra Barrera and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 684 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described.
Book Synopsis Multi-Agent Visual-Slam Algorithms on Autonomous Robots by : Nezih Ergin Özkucur
Download or read book Multi-Agent Visual-Slam Algorithms on Autonomous Robots written by Nezih Ergin Özkucur and published by LAP Lambert Academic Publishing. This book was released on 2010 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Simultaneous Localization and Mapping (SLAM) problem is one of the most challenging problems in robot navigation. The problem addresses autonomously exploring and mapping an unknown environment without prior knowledge (of features). The robot should generate the map of the environment and estimate its pose with respect to the map. An extension of this problem to the distributed multi-robot platform is a popular research topic for its challenges and commitments. Multiple cooperative robots exploring an area would decrease exploration time and increase the accuracy. This work introduces the application of two successful SLAM solution techniques to the multi-robot domain using visual sensors and non-unique landmarks. There are two contributions to the literature: Evolutionary Strategies (ES) is used to calibrate the parameters of the Extended Kalman Filter-SLAM (EKF-SLAM) method with supervised data, and a novel map merging method with uncertainty propagation is introduced for the Fast-SLAM algorithm. The developed algorithms are tested in both simulated and real robot experiments and the improvements and applicability of the developed methods are shown with the results.
Book Synopsis Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods by : Fernández-Madrigal, Juan-Antonio
Download or read book Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods written by Fernández-Madrigal, Juan-Antonio and published by IGI Global. This book was released on 2012-09-30 with total page 497 pages. Available in PDF, EPUB and Kindle. Book excerpt: As mobile robots become more common in general knowledge and practices, as opposed to simply in research labs, there is an increased need for the introduction and methods to Simultaneous Localization and Mapping (SLAM) and its techniques and concepts related to robotics. Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.
Book Synopsis The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot by : D. C. Lee
Download or read book The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot written by D. C. Lee and published by Cambridge University Press. This book was released on 2003-09-18 with total page 250 pages. Available in PDF, EPUB and Kindle. Book excerpt: First book to describe a way of determining the best method to use to enable a robot to navigate.
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.
Book Synopsis Vision and Navigation by : Charles E. Thorpe
Download or read book Vision and Navigation written by Charles E. Thorpe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 375 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots are playing an increasingly important role in our world. Remotely operated vehicles are in everyday use for hazardous tasks such as charting and cleaning up hazardous waste spills, construction work of tunnels and high rise buildings, and underwater inspection of oil drilling platforms in the ocean. A whole host of further applications, however, beckons robots capable of autonomous operation without or with very little intervention of human operators. Such robots of the future will explore distant planets, map the ocean floor, study the flow of pollutants and carbon dioxide through our atmosphere and oceans, work in underground mines, and perform other jobs we cannot even imagine; perhaps even drive our cars and walk our dogs. The biggest technical obstacles to building mobile robots are vision and navigation-enabling a robot to see the world around it, to plan and follow a safe path through its environment, and to execute its tasks. At the Carnegie Mellon Robotics Institute, we are studying those problems both in isolation and by building complete systems. Since 1980, we have developed a series of small indoor mobile robots, some experimental, and others for practical applicationr Our outdoor autonomous mobile robot research started in 1984, navigating through the campus sidewalk network using a small outdoor vehicle called the Terregator. In 1985, with the advent of DARPA's Autonomous Land Vehicle Project, we constructed a computer controlled van with onboard sensors and researchers. In the fall of 1987, we began the development of a six-legged Planetary Rover.
Book Synopsis Robotics and Cognitive Approaches to Spatial Mapping by : Margaret E. Jefferies
Download or read book Robotics and Cognitive Approaches to Spatial Mapping written by Margaret E. Jefferies and published by Springer Science & Business Media. This book was released on 2008-01-10 with total page 657 pages. Available in PDF, EPUB and Kindle. Book excerpt: This important work is an attempt to synthesize two areas that need to be treated in tandem. The book brings together the fields of robot spatial mapping and cognitive spatial mapping, which share some common core problems. One would expect some cross-fertilization of research between the two areas to have occurred, yet this has begun only recently. There are now signs that some synthesis is happening, so this work is a timely one for students and engineers in robotics.
Book Synopsis Micro Air Vehicle Development for Indoor by : Rashi Sagara
Download or read book Micro Air Vehicle Development for Indoor written by Rashi Sagara and published by Self Publisher. This book was released on 2023-09-10 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Simultaneous Localization and Mapping (SLAM) is a challenging research area in robotics. SLAM is used to estimate the location of a mobile platform and simultaneously build a map of its surrounding environment. The essence of the SLAM algorithm is creating a map of everything that the mobile robot senses using its onboard sensors while simultaneously localizing itself on the built map. SLAM is used in the various robotics applications. `Roomba' robot was the first SLAM based vacuum cleaner introduced by iRobot. SLAM is also used in various applications such as autonomous navigation of mining robots, space explorations rovers, toy robots, and self-driving cars. For path planning or collision avoidance, the robot uses its poses and mapped environment to perform the specified task. Real-time SLAM systems perform the required processing such as capturing sensor data and processing the captured data in a real time. With limited computational power, the best policies as well as algorithms are being developed to obtain correct robot poses and a map of the environment in real time. The main challenge in SLAM is to design real time application with onboard processing for applications like autonomous navigation wherein robot may need to operate at night or under low illumination conditions. This research aimed at development of monocular Visual SLAM for indoor environment. This chapter presents the literature review of the various visual SLAM algorithms. First section discusses theoretical background of visual SLAM. The feature-based and direct approaches are presented in second section. The third section describes different embedded platforms used followed by review of SLAM algorithms. Various evaluation metrics used and the bench marking datasets, applications, open challenges in visual SLAM are discussed. Chronology of SLAM The development of visual SLAM took place in three phases: namely SLAM problems, Visual SLAM and Visual SLAM with IMU integration to achieve as robustness shown in Figure 2-1. In, first stage focused various mathematical expressions presented to solve the SLAM problem. During second phase the attention of SLAM shifted to visual approaches. Various visual SLAM algorithms were presented with RGB-D cameras, and stereo cameras. Fundamental properties of Visual SLAM such as consistency and convergence were studied. Various SLAM methods were developed around the visual LAM. In third phase the robustness of visual SLAM algorithm is improved. The goal of this stage is to improve the reliability of visual SLAM for various real-life applications. This lead to the development of visual inertial SLAM methods. he second phase of SLAM development is called as golden phase, since most of the problems in SLAM were solved. In 2007, The biggest achievement is keyframe based PTAM (Parallel Tracking and Mapping) was proposed[12]. This approach allowed task parallelization, good utilization of global optimization, reduction in computation time and reduction in tracking drift error. Nowadays, PTAM's framework is used in almost every visual SLAM algorithm. The Visual SLAM became reliable with integration of global optimization, effective use of loop closing, keyframe and map point culling policies for memory management and computation time. The parallelization using multi-threading helped to achieve real time performance. Different hardware's like RGB-D and stereo cameras were integrated with vision-based SLAM algorithms. In third phase, main focus was on improving the robustness of visual SLAM. The combination of camera and IMU became an important research topic. In 2010's, the combination of camera and IMU was used to implement the visual inertial approach.
