Mobile robot navigation

Mobile robot navigation

For any mobile device, the ability to navigate in its environment is one of the most important capabilities of all. Staying operational, i.e. avoiding dangerous situations such as collisions and staying within safe operating conditions (temperature), radiation, exposure to weather, etc.) come first, but if any tasks are to be performed that relate to specific places in the robot environment, navigation is a must. In the following, we will present an overview of the skill of navigation and try to identify the basic blocks of a robot navigation system, types of navigation systems, and closer look at its related building components.

Robot navigation means its ability to determine its own position in its frame of reference and then to plan a path towards some goal location. In order to navigate in its environment, the robot or any another mobility device requires representation i.e. a map of the environment and the ability to interpret that representation.

Navigation can be defined as the combination of the Three fundamental competences:

  1. Self-Localisation
  2. Path Planning
  3. Map-Building and Map-Interpretation

Map in this context denotes any one-to-one mapping of the world onto an internal representation.

Robot localization denotes the robot's ability to establish its own position and orientation within the frame of reference. Path planning is effectively an extension of localisation, in that it requires the determination of the robot's current position and a position of a goal location, both within the same frame of reference or coordinates. Map building can be in the shape of a metric map or any notation describing locations in the robot frame of reference.

Contents

Vision-Based Navigation

Vision-Based Navigation uses optical sensors include laser-based range finder and photometric cameras using CCD arrays to extract the visual features required to the localization in the surrounding environment. However, there are a range of techniques for navigation and localization using vision information, the main components of each technique are:

  • representations of the environment.
  • sensing models.
  • localization algorithms.

In order to give an overview of vision-based navigation and its techniques, we classify these techniques under indoor navigation and outdoor navigation.

Indoor Navigation

The easiest way of making a robot go to a goal location is simply to guide it to this location. This guidance can be done in different ways: burying an inductive loop or magnets in the floor, painting lines on the floor, or by placing beacons, markers, bar codes etc. in the environment. Such Automated Guided Vehicles (AGVs) are used in industrial scenarios for transportation tasks.

There are a very wider variety of indoor navigation systems. The basic reference of indoor and outdoor navigation systems is "Vision for mobile robot navigation: a survey" by Guilherme N. DeSouza and Avinash C. Kak.

Also see "Vision based positioning"

References

Further reading

External links


Wikimedia Foundation. 2010.

Игры ⚽ Поможем написать курсовую

Look at other dictionaries:

  • Mobile Robot Programming Toolkit — (MRPT) Obstacle avoidance on a robotic wheelchair. Developer(s) The MAPIR group …   Wikipedia

  • Mobile robot — A mobile robot is an automatic machine that is capable of movement in a given environment. A spying robot is an example of a mobile robot capable of movement in a given environment. Courtesy: Gaurav Mittal, PEC[1] Contents …   Wikipedia

  • Alice mobile robot — The Alice is a very small sugarcube mobile robot (2x2x2cm) developed at the ASL at the EPFL in Lausanne, Switzerland between 1998 and 2004. It was designed with the following goals: * Design an intelligent mobile robot as cheap and small as… …   Wikipedia

  • Robot control — is the study of controlling robots. See also * Control theory * Mobile robot navigation * Robot kinematics * Simultaneous localization and mapping * Robot locomotion * Motion planning * Robot learning * Vision Based Robot Control robot stub …   Wikipedia

  • Robot kinematics — is the study of the motion (kinematics) of robots. In a kinematic analysis the position, velocity and acceleration of all the links are calculated without considering the forces that cause this motion. The relationship between motion, and the… …   Wikipedia

  • Robot — This article is about mechanical robots. For other uses of the term, see robot (disambiguation). For software agents, see Bot. ASIMO (2000) at the Expo 2005, a humanoid robot …   Wikipedia

  • Mobile manipulator — Contents 1 Definition 2 Motivation 3 Timeline 4 State of the art 5 See also …   Wikipedia

  • robot — robotism, n. robotic, robotistic /roh beuh tis tik, bo /, adj. robotlike, adj. /roh beuht, bot/, n. 1. a machine that resembles a human and does mechanical, routine tasks on command. 2. a person who acts and responds in a mechanical, routine… …   Universalium

  • Robot competition — A robotic competition is an event where robots have to accomplish a given task. Usually they have to beat other robots in order to become the best one. Most competitions are for schools but as time goes by, several professional competitions are… …   Wikipedia

  • Autonomous research robot — Autonomous research robots are a relatively new phenomenon. In the 1980s and even the 1990s, most researchers built their own platforms from scratch, so research proceeded at a snail s pace.PioneersThe Denning Mobile Robot company of Boston was… …   Wikipedia

Share the article and excerpts

Direct link
Do a right-click on the link above
and select “Copy Link”