In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm ba...In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm based on multi-sensor information fusion(MSIF)was proposed.In this paper,simultaneous localization and mapping(SLAM)was realized on the basis of laser Rao-Blackwellized particle filter(RBPF)-SLAM algorithm and graph-based optimization theory was used to constrain and optimize the pose estimation results of Monte Carlo localization.The feature point extraction and quadrilateral closed loop matching algorithm based on oriented FAST and rotated BRIEF(ORB)were improved aiming at the problems of generous calculation and low tracking accuracy in visual information processing by means of the three-dimensional(3D)point feature in binocular visual reconstruction environment.Factor graph model was used for the information fusion under the maximum posterior probability criterion for laser RBPF-SLAM localization and binocular visual localization.The results of simulation and experiment indicate that localization accuracy of the above-mentioned method is higher than that of traditional RBPF-SLAM algorithm and general improved algorithms,and the effectiveness and usefulness of the proposed method are verified.展开更多
This paper proposes a method that rotation angle of servo motor and distance values of ultrasonic sensor are used for tracking an object in real-time while the robot keeps regular distance.Object detection distance wi...This paper proposes a method that rotation angle of servo motor and distance values of ultrasonic sensor are used for tracking an object in real-time while the robot keeps regular distance.Object detection distance widens by using ultrasonic sensors and object recognition,and movement of robot is controlled by angle of servo motor and distance of ultrasonic sensors.Not adopting the existing tracking methods:camera,laser-infrared(LRF)and many ultrasonic sensors,the proposed method proves that it is possible to track object using ultrasonic sensor and servo motor.Trajectory of robot is represented and analysed according to movement of object in limited conditions.展开更多
A wireless sensor network (WSN) is spatially distributing independent sensors to monitor physical and environmental characteristics such as temperature, sound, pressure and also provides different applications such as...A wireless sensor network (WSN) is spatially distributing independent sensors to monitor physical and environmental characteristics such as temperature, sound, pressure and also provides different applications such as battlefield inspection and biological detection. The Constrained Motion and Sensor (CMS) Model represents the features and explain k-step reach ability testing to describe the states. The description and calculation based on CMS model does not solve the problem in mobile robots. The ADD framework based on monitoring radio measurements creates a threshold. But the methods are not effective in dynamic coverage of complex environment. In this paper, a Localized Coverage based on Shape and Area Detection (LCSAD) Framework is developed to increase the dynamic coverage using mobile robots. To facilitate the measurement in mobile robots, two algorithms are designed to identify the coverage area, (i.e.,) the area of a coverage hole or not. The two algorithms are Localized Geometric Voronoi Hexagon (LGVH) and Acquaintance Area Hexagon (AAH). LGVH senses all the shapes and it is simple to show all the boundary area nodes. AAH based algorithm simply takes directional information by locating the area of local and global convex points of coverage area. Both these algorithms are applied to WSN of random topologies. The simulation result shows that the proposed LCSAD framework attains minimal energy utilization, lesser waiting time, and also achieves higher scalability, throughput, delivery rate and 8% maximal coverage connectivity in sensor network compared to state-of-art works.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
To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathem...To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.展开更多
A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the...A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.展开更多
Obstacle detection is essential for mobile robots to avoid collision with obstacles.Mobile robots usually operate in indoor environments,where they encounter various kinds of obstacles;however,2D range sensor can sens...Obstacle detection is essential for mobile robots to avoid collision with obstacles.Mobile robots usually operate in indoor environments,where they encounter various kinds of obstacles;however,2D range sensor can sense obstacles only in 2D plane.In contrast,by using 3D range sensor,it is possible to detect ground and aerial obstacles that 2D range sensor cannot sense.In this paper,we present a 3D obstacle detection method that will help overcome the limitations of 2D range sensor with regard to obstacle detection.The indoor environment typically consists of a flat floor.The position of the floor can be determined by estimating the plane using the least squares method.Having determined the position of the floor,the points of obstacles can be known by rejecting the points of the floor.In the experimental section,we show the results of this approach using a Kinect sensor.展开更多
The autonomous mobile robotics system designed and implemented for indoor environment navigation is a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID controlle...The autonomous mobile robotics system designed and implemented for indoor environment navigation is a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID controlled motors and two caster wheels mounted in the front and back respectively. It is furnished with multiple kinds of sensors such as IR detectors, ultrasonic sensors, laser line generators and cameras, constituting a perceiving system for exploring its surroundings. Its computation source is a simultaneously running system composed of multiprocessor with multitask and multiprocessing programming. Hybrid control architecture is employed on the mobile robot to perform complex tasks. The mobile robot system is implemented at the Center for Intelligent Design, Automation and Manufacturing of City University of Hong Kong.展开更多
A novel optical fiber tactile sensory system is proposed for obstacle avoidance of mobile robot. The principle of this whisker like tactile sensor is based on the geometric curvature changes of the optical fiber, whic...A novel optical fiber tactile sensory system is proposed for obstacle avoidance of mobile robot. The principle of this whisker like tactile sensor is based on the geometric curvature changes of the optical fiber, which modulate the optical fiber′s light output. With high compliance of plastic optical fiber, the whiskers can produce only small flexing force upon mechanical contact with an obstacle. It can produce reliable proximity signals in extended tactile range, which can be translated into a larger stopping distance for the mobile robot. This sensor is lightweight, and of low cost to allow as many sensor, as necessary to be mounted on a robot.展开更多
为有效解决单一传感器同时定位与地图构建(simultaneous localization and mapping, SLAM)定位精度低、障碍物识别不全问题,提出一种多传感器融合的SLAM方法。通过将RGB-D相机采集的点云进行降采样、滤波处理,极大降低算法的计算量。利...为有效解决单一传感器同时定位与地图构建(simultaneous localization and mapping, SLAM)定位精度低、障碍物识别不全问题,提出一种多传感器融合的SLAM方法。通过将RGB-D相机采集的点云进行降采样、滤波处理,极大降低算法的计算量。利用点云库对激光点云和降采样RGB-D相机点云进行融合,融合的点云利用PL-ICP完成点云配准,提高对外部环境的准确识别。利用扩展卡尔曼滤波融合IMU和轮式里程计与点云进行位姿匹配,保证定位的精度。实验结果表明,该方法可以有效提高对室内建图和导航的精度。展开更多
文章主要研究如何将双足步行机器人的开环控制系统升级为闭环控制系统。为实现这一目标,在硬件配置和控制算法两方面做了优化。首先,为双足步行机器人配置1个可转动180°的舵机云台,用于安装超声波传感器。通过转动云台,超声波传感...文章主要研究如何将双足步行机器人的开环控制系统升级为闭环控制系统。为实现这一目标,在硬件配置和控制算法两方面做了优化。首先,为双足步行机器人配置1个可转动180°的舵机云台,用于安装超声波传感器。通过转动云台,超声波传感器可探测到机器人左、前、右3个方向的障碍物。其次,安装Arduino MEGA 2560开发板作为主控制器,根据障碍物的方位、距离下达前进、转向或加减速指令,从而达到避障效果。最后,设计控制算法,其核心是让机器人向没有障碍物或距离障碍物最远的一侧步行,步行速度与障碍物距离成正相关关系。通过实验检验机器人的避障效果,机器人在具有口字形、凹字形、Z字形障碍物的场地中,均能按照控制算法成功避障。文章成功将开环控制系统的双足步行机器人改为闭环控制系统,为机器人智能化方向发展奠定了基础。展开更多
基金Natural Science Foundation of Shaanxi Province(No.2019JQ-004)Scientific Research Plan Projects of Shaanxi Education Department(No.18JK0438)Youth Talent Promotion Project of Shaanxi Province(No.20180112)。
文摘In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm based on multi-sensor information fusion(MSIF)was proposed.In this paper,simultaneous localization and mapping(SLAM)was realized on the basis of laser Rao-Blackwellized particle filter(RBPF)-SLAM algorithm and graph-based optimization theory was used to constrain and optimize the pose estimation results of Monte Carlo localization.The feature point extraction and quadrilateral closed loop matching algorithm based on oriented FAST and rotated BRIEF(ORB)were improved aiming at the problems of generous calculation and low tracking accuracy in visual information processing by means of the three-dimensional(3D)point feature in binocular visual reconstruction environment.Factor graph model was used for the information fusion under the maximum posterior probability criterion for laser RBPF-SLAM localization and binocular visual localization.The results of simulation and experiment indicate that localization accuracy of the above-mentioned method is higher than that of traditional RBPF-SLAM algorithm and general improved algorithms,and the effectiveness and usefulness of the proposed method are verified.
基金The MKE(The Ministry of Knowledge Economy),Korea,under the Human Resources Development Program for Robotics Support Program supervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2012-H1502-12-1002)The MKE,Korea,under the ITRC(Infor mation Technology Research Center)Support Program supervised by the NIPA(NI-PA-2012-H0301-12-2006)
文摘This paper proposes a method that rotation angle of servo motor and distance values of ultrasonic sensor are used for tracking an object in real-time while the robot keeps regular distance.Object detection distance widens by using ultrasonic sensors and object recognition,and movement of robot is controlled by angle of servo motor and distance of ultrasonic sensors.Not adopting the existing tracking methods:camera,laser-infrared(LRF)and many ultrasonic sensors,the proposed method proves that it is possible to track object using ultrasonic sensor and servo motor.Trajectory of robot is represented and analysed according to movement of object in limited conditions.
文摘A wireless sensor network (WSN) is spatially distributing independent sensors to monitor physical and environmental characteristics such as temperature, sound, pressure and also provides different applications such as battlefield inspection and biological detection. The Constrained Motion and Sensor (CMS) Model represents the features and explain k-step reach ability testing to describe the states. The description and calculation based on CMS model does not solve the problem in mobile robots. The ADD framework based on monitoring radio measurements creates a threshold. But the methods are not effective in dynamic coverage of complex environment. In this paper, a Localized Coverage based on Shape and Area Detection (LCSAD) Framework is developed to increase the dynamic coverage using mobile robots. To facilitate the measurement in mobile robots, two algorithms are designed to identify the coverage area, (i.e.,) the area of a coverage hole or not. The two algorithms are Localized Geometric Voronoi Hexagon (LGVH) and Acquaintance Area Hexagon (AAH). LGVH senses all the shapes and it is simple to show all the boundary area nodes. AAH based algorithm simply takes directional information by locating the area of local and global convex points of coverage area. Both these algorithms are applied to WSN of random topologies. The simulation result shows that the proposed LCSAD framework attains minimal energy utilization, lesser waiting time, and also achieves higher scalability, throughput, delivery rate and 8% maximal coverage connectivity in sensor network compared to state-of-art works.
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(60475035) supported by the National Natural Science Foundation of China
文摘To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.
基金Project(60234030) supported by the National Natural Science Foundation of China
文摘A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.
基金The MKE(Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program(NIPA-2013-H0301-13-2006)supervised by the NIPA(National IT Industry Promotion Agency)The National Research Foundation of Korea(NRF)grant funded by the Korea government(MEST)(2013-029812)The MKE(Ministry of Knowledge Economy),Korea,under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA(NIPA-2013-H1502-13-1001)
文摘Obstacle detection is essential for mobile robots to avoid collision with obstacles.Mobile robots usually operate in indoor environments,where they encounter various kinds of obstacles;however,2D range sensor can sense obstacles only in 2D plane.In contrast,by using 3D range sensor,it is possible to detect ground and aerial obstacles that 2D range sensor cannot sense.In this paper,we present a 3D obstacle detection method that will help overcome the limitations of 2D range sensor with regard to obstacle detection.The indoor environment typically consists of a flat floor.The position of the floor can be determined by estimating the plane using the least squares method.Having determined the position of the floor,the points of obstacles can be known by rejecting the points of the floor.In the experimental section,we show the results of this approach using a Kinect sensor.
文摘The autonomous mobile robotics system designed and implemented for indoor environment navigation is a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID controlled motors and two caster wheels mounted in the front and back respectively. It is furnished with multiple kinds of sensors such as IR detectors, ultrasonic sensors, laser line generators and cameras, constituting a perceiving system for exploring its surroundings. Its computation source is a simultaneously running system composed of multiprocessor with multitask and multiprocessing programming. Hybrid control architecture is employed on the mobile robot to perform complex tasks. The mobile robot system is implemented at the Center for Intelligent Design, Automation and Manufacturing of City University of Hong Kong.
文摘A novel optical fiber tactile sensory system is proposed for obstacle avoidance of mobile robot. The principle of this whisker like tactile sensor is based on the geometric curvature changes of the optical fiber, which modulate the optical fiber′s light output. With high compliance of plastic optical fiber, the whiskers can produce only small flexing force upon mechanical contact with an obstacle. It can produce reliable proximity signals in extended tactile range, which can be translated into a larger stopping distance for the mobile robot. This sensor is lightweight, and of low cost to allow as many sensor, as necessary to be mounted on a robot.
文摘为有效解决单一传感器同时定位与地图构建(simultaneous localization and mapping, SLAM)定位精度低、障碍物识别不全问题,提出一种多传感器融合的SLAM方法。通过将RGB-D相机采集的点云进行降采样、滤波处理,极大降低算法的计算量。利用点云库对激光点云和降采样RGB-D相机点云进行融合,融合的点云利用PL-ICP完成点云配准,提高对外部环境的准确识别。利用扩展卡尔曼滤波融合IMU和轮式里程计与点云进行位姿匹配,保证定位的精度。实验结果表明,该方法可以有效提高对室内建图和导航的精度。
文摘文章主要研究如何将双足步行机器人的开环控制系统升级为闭环控制系统。为实现这一目标,在硬件配置和控制算法两方面做了优化。首先,为双足步行机器人配置1个可转动180°的舵机云台,用于安装超声波传感器。通过转动云台,超声波传感器可探测到机器人左、前、右3个方向的障碍物。其次,安装Arduino MEGA 2560开发板作为主控制器,根据障碍物的方位、距离下达前进、转向或加减速指令,从而达到避障效果。最后,设计控制算法,其核心是让机器人向没有障碍物或距离障碍物最远的一侧步行,步行速度与障碍物距离成正相关关系。通过实验检验机器人的避障效果,机器人在具有口字形、凹字形、Z字形障碍物的场地中,均能按照控制算法成功避障。文章成功将开环控制系统的双足步行机器人改为闭环控制系统,为机器人智能化方向发展奠定了基础。