Autonomous navigation Research Papers - Academia.edu (original) (raw)

The present work considers the development of a wheelchair for people with special needs, which is capable of navigating semi-autonomously within its workspace. This system is expected to prove useful to people with impaired mobility and... more

The present work considers the development of a wheelchair for people with special needs, which is capable of navigating semi-autonomously within its workspace. This system is expected to prove useful to people with impaired mobility and limited fine motor control of the upper extremities. Among the implemented behaviors of this robotic system are the avoidance of obstacles, the motion in the middle of the free space and the following of a moving target specified by the user (eg, a person walking in front of the wheelchair). The ...

In the agricultural field of Japan, there is two issues are facing; population aging and labor shortage are progressing, rapidly. In order to solve these problems, it is indispensable to create a method that improves productivity and... more

In the agricultural field of Japan, there is two issues are facing; population aging and labor shortage are progressing, rapidly. In order to solve these problems, it is indispensable to create a method that improves productivity and labor-saving technology in agricultural works. A weeding robot is one of an approach for achievement of these problems, it can be considered that labors will be released from tough or dangerous works. In this study, autonomously controlling the weeding robot will be focused on. To achieve this, an algorithm will be proposed that autonomously constructs a state-action space based on various sensor information and can apply it to actually work. The main contribution of this paper is in the development of vision-based navigation and integrated control system for straight-running or turning behavior to guarantee performance during of the working. The presented system benefits from a magnetic compass and a fixed camera. An estimation method of boundary of the workspace distance obtains view of in-front-of the robot using a monocular camera to enable detect edges of the workspace. Moreover, an obstacle detection method obtains in-front-of view of the robot using the camera. In this method is applied a deep-learning module to detect and cognition an obstacle. A rotation controller is developed to counter-rotation turn the robot such that at the target boundary point, to avoid the robot reach out of the workspace, or avoid an obstacle. In verification experiment, a state-action space, including the position of the obstacle was constructed and can avoid an obstacle, in each work. Further, we have been confirmed that the robot can counterrotation turn 90 degrees (spin-turn) at the boundary point of workspace.

A fuzzy logic based general purpose modular control architecture is presented for underwater vehicle autonomous navigation, control and collision avoidance. Three levels of fuzzy controllers comprising the sensor fusion module, the... more

A fuzzy logic based general purpose modular control architecture is presented for underwater vehicle autonomous navigation, control and collision avoidance. Three levels of fuzzy controllers comprising the sensor fusion module, the collision avoidance module and the motion control module are derived and implemented. No assumption is made on the specific underwater vehicle type, on the amount of a priori knowledge of the 3-D undersea environment or on static and dynamic obstacle size and velocity. The derived controllers account for vehicle position accuracy and vertical stability in the presence of ocean currents and constraints imposed by the roll motion. The main advantage of the proposed navigation control architecture is its simplicity, modularity, expandability and applicability to any type of autonomous or semi-autonomous underwater vehicles. Extensive simulation studies are performed on the NPS Phoenix vehicle whose dynamics have been modified to account for roll stability.

Maze solving problem is a very old problem, but still now it is considered as an importantfield of robotics. This field is based on decision making algorithms. The main aim of this project is to make an Arduino based efficient autonomous... more

Maze solving problem is a very old problem, but still now it is considered as an importantfield of robotics. This field is based on decision making algorithms. The main aim of this project is to make an Arduino based efficient autonomous maze solver robot. Two simplemazes solving algorithms “Wall following algorithm” and “Flood fill algorithm” are usedto make this robot. In this project Hardware development, software development and maze construction had been done.
Autonomous navigation is an important feature that allows a mobile robot to independently move from a point to another without an intervention from a human operator. Autonomous navigation within an unknown area requires the robot to explore, localize and map its surrounding. By solving a maze, the pertaining algorithms and behavior of the robot can be studied and improved upon. This project is an implementation of a maze-solving robot designed to solve a maze based on the floodfill algorithm. Detection of walls and opening in the maze were done using ultrasonic range- finders.

Robotic unmanned aerial vehicles have an enormous potential as observation and data-gathering platforms for a wide variety of applications. These applications include environmental and biodiversity research and monitoring, urban planning... more

Robotic unmanned aerial vehicles have an enormous potential as observation and data-gathering platforms for a wide variety of applications. These applications include environmental and biodiversity research and monitoring, urban planning and traffic control, inspection of man-made structures, mineral and archaeological prospecting, surveillance and law enforcement, communications, and many others. Robotic airships, in particular, are of great interest as observation platforms, due to their potential for extended mission times, low platform vibration characteristics, and hovering capability. In this paper we provide an overview of Project AURORA (Autonomous Unmanned Remote Monitoring Robotic Airship), a research effort that focusses on the development of the technologies required for substantially autonomous robotic airships. We discuss airship modelling and control, autonomous navigation, and sensor-based flight control. We also present the hardware and software architectures developed for the airship. Additionally, we discuss our current research in airborne perception and monitoring, including mission-specific target acquisition, discrimination and identification tasks. The paper also presents experimental results from our work.

This paper presents the design and implementation of a vision-based navigation and landing algorithm for an autonomous helicopter. The vision system allows to define target areas from a high resolution aerial or satellite image to... more

This paper presents the design and implementation of a vision-based navigation and landing algorithm for an autonomous helicopter. The vision system allows to define target areas from a high resolution aerial or satellite image to determine the waypoints of the navigation trajectory or the landing area. The helicopter is required to navigate from an initial position to a final position in a partially known environment using GPS and vision, to locate a landing target (a helipad of a known shape or a natural landmark) and to land on it. The vision system, using a feature-based image matching algorithm, finds the area and gives feedbacks to the control system for autonomous landing. Vision is used for accurate target detection, recognition and tracking. The helicopter updates its landing target parameters owing to vision and uses an on board behavior-based controller to follow a path to the landing site. Results show the appropriateness of the vision-based approach that does not require any artificial landmark (e.g., helipad) and is quite robust to occlusions, light variations and seasonal changes (e.g., brown or green leaves).

The paper is on an autonomous grid solver pick and place robot that can explore a square or rectangular matrix grid for sensing dead zones on point and then finds a target object/block on any intersection, solves the grid ,finds shortest... more

The paper is on an autonomous grid solver pick and place robot that can explore a square or rectangular matrix grid for sensing dead zones on point and then finds a target object/block on any intersection, solves the grid ,finds shortest way to target block to it pick and place at a user defined position. It uses Depth First Search (DFS) algorithm to solve the grid and find navigation plan itself. It also uses a PID controlled line following algorithm to find its path on grid. A high end PID controller was designed and simulated with Simulink real time hardware support package combining with Arduino. This paper discuss the concept and design of a mobile robot that can serve a specified task and demonstrates the implementation of onboard robotic intelligence to do that task autonomous.

Mobile robot vision-based navigation has been the source of countless research contributions, from the domains of both vision and control. Vision is becoming more and more common in applications such as localization, automatic map... more

Mobile robot vision-based navigation has been the source of countless research contributions, from the domains of both vision and control. Vision is becoming more and more common in applications such as localization, automatic map construction, autonomous navigation, path following, inspection, monitoring or risky situation detection. This survey presents those pieces of work, from the nineties until nowadays, which constitute a wide progress in visual navigation techniques for land, aerial and autonomous underwater vehicles. The paper deals with two major approaches: map-based navigation and mapless navigation. Map-based navigation has been in turn subdivided in metric map-based navigation and topological map-based navigation. Our outline to mapless navigation includes reactive techniques based on qualitative characteristics extraction, appearance-based localization, optical flow, features tracking, plane ground detection/tracking, etc... The recent concept of visual sonar has also been revised.

The application of Global Positioning System (GPS) technology to the Geostationary Earth Orbit (GEO) determination has been constrained by the poor satellite visibility and weak signal power. This situation is expected to improve when... more

The application of Global Positioning System (GPS) technology to the Geostationary Earth Orbit (GEO) determination has been constrained by the poor satellite visibility and weak signal power. This situation is expected to improve when multi-constellation Global Navigation Satellite Systems (GNSS) are available in the future. This paper aims to investigate a navigation algorithm to determine the GEO state vector in real time, using multi-constellation GNSS measurements. The navigation algorithm is based on a Kalman filter where the estimated state includes position and velocity corrections to the nominal reference trajectory and clock biases. The simulation results are presented in the paper. It is concluded that this algorithm meets the requirement for autonomous GEO satellite navigation.

An autonomous robot finds applications in process industries to perform control operations such as manipulation of valves, especially in hazardous environments. This would require localization and mapping capabilities for efficient... more

An autonomous robot finds applications in process industries to perform control operations such as manipulation of valves, especially in hazardous environments. This would require localization and mapping capabilities for efficient navigation, coupled with a dexterous arm for manipulation of the valves. Dynamic path planning and obstacle avoidance are the necessary requirements for autonomous navigation in the work area of a process industry. This paper presents a way to perform the above tasks using an autonomous robot having multi-sensory inputs, and using vision based inferences.