A simple autonomous docking method based on infrared sensors for mobile self-reconfigurable relay microrobots is proposed in the paper.The IR guidance system composed of an IR receiver and four IR emitters is designed...A simple autonomous docking method based on infrared sensors for mobile self-reconfigurable relay microrobots is proposed in the paper.The IR guidance system composed of an IR receiver and four IR emitters is designed,analyzed and developed.The autonomous docking control method based on centering alignment and dynamic motion planning is adopted so that it has high efficiency and reliability.Two basic microrobot prototypes are developed,and related docking experiments are done to verify the feasibility of the approach.展开更多
Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers stud...Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method.展开更多
Smart homes can provide complementary information to assist home service robots.We present a robotic misplaced item finding(MIF)system,which uses human historical trajectory data obtained in a smart home environment.F...Smart homes can provide complementary information to assist home service robots.We present a robotic misplaced item finding(MIF)system,which uses human historical trajectory data obtained in a smart home environment.First,a multi-sensor fusion method is developed to localize and track a resident.Second,a path-planning method is developed to generate the robot movement plan,which considers the knowledge of the human historical trajectory.Third,a real-time object detector based on a convolutional neural network is applied to detect the misplaced item.We present MIF experiments in a smart home testbed and the experimental results verify the accuracy and efficiency of our solution.展开更多
基金Supported by the National High Technology Research and Development Programme of China(No.2007AA04Z340)
文摘A simple autonomous docking method based on infrared sensors for mobile self-reconfigurable relay microrobots is proposed in the paper.The IR guidance system composed of an IR receiver and four IR emitters is designed,analyzed and developed.The autonomous docking control method based on centering alignment and dynamic motion planning is adopted so that it has high efficiency and reliability.Two basic microrobot prototypes are developed,and related docking experiments are done to verify the feasibility of the approach.
基金National Natural Science Foundation of China(Nos.51475328,61372143,61671321)
文摘Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method.
基金Project supported by the Basic Public Research Program of Zhejiang Province,China(No.LGF18F030001)the Open Research Project of the State Key Laboratory of Industrial Control Technology,Zhejiang University,China(No.ICT1800414)
文摘Smart homes can provide complementary information to assist home service robots.We present a robotic misplaced item finding(MIF)system,which uses human historical trajectory data obtained in a smart home environment.First,a multi-sensor fusion method is developed to localize and track a resident.Second,a path-planning method is developed to generate the robot movement plan,which considers the knowledge of the human historical trajectory.Third,a real-time object detector based on a convolutional neural network is applied to detect the misplaced item.We present MIF experiments in a smart home testbed and the experimental results verify the accuracy and efficiency of our solution.
