Mobile Robot Localization Based on the Novel Leader-Based Bat Algorithm

Neto, Wolmar A.; Pinto, Milena F.; Marcato, André L. M.; Silva, Ivo Chaves da; Fernandes, Daniel de Almeida

doi:10.1007/s40313-019-00453-2

Cited by 14 publications

(8 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The velocity values are directly connected to the magnitudes of the inclination angles of the head. The user must continuously adjust the positioning of the head during navigation Left rotation (5) Right curved movement (6) Left curved movement ♦ (7) Stopped according to the desired velocities. The Head-Keypad interface proposed in this research is based on previous studies performed by the authors in ref.…”

Section: Head-keypad Interfacementioning

confidence: 99%

See 1 more Smart Citation

Shared control methodology based on head positioning and vector fields for people with quadriplegia

et al. 2021

Self Cite

View full text Add to dashboard Cite

Mobile robotic systems are used in a wide range of applications. Especially in the assistive field, they can enhance the mobility of the elderly and disable people. Modern robotic technologies have been implemented in wheelchairs to give them intelligence. Thus, by equipping wheelchairs with intelligent algorithms, controllers, and sensors, it is possible to share the wheelchair control between the user and the autonomous system. The present research proposes a methodology for intelligent wheelchairs based on head movements and vector fields. In this work, the user indicates where to go, and the system performs obstacle avoidance and planning. The focus is developing an assistive technology for people with quadriplegia that presents partial movements, such as the shoulder and neck musculature. The developed system uses shared control of velocity. It employs a depth camera to recognize obstacles in the environment and an inertial measurement unit (IMU) sensor to recognize the desired movement pattern measuring the user’s head inclination. The proposed methodology computes a repulsive vector field and works to increase maneuverability and safety. Thus, global localization and mapping are unnecessary. The results were evaluated by simulated models and practical tests using a Pioneer-P3DX differential robot to show the system’s applicability.

show abstract

Section: Head-keypad Interfacementioning

confidence: 99%

“…Robotic systems are used in a wide range of applications, and such examples are in refs. [4,5,6]. For instance, they are also presented in independently daily activities [7].…”

Section: Introductionmentioning

confidence: 99%

Shared control methodology based on head positioning and vector fields for people with quadriplegia

et al. 2021

Self Cite

View full text Add to dashboard Cite

show abstract

“…Neto [58] proposed BA to solve the problem of mobile robot global localization. BA echolocation has a good capacity to solve optimization problems compared with other methods, but BA still suffers from the main problem related to premature convergence.…”

Section: Bat Algorithmmentioning

confidence: 99%

Assessment and Review of the Reactive Mobile Robot Navigation

Yosif¹,

Mahmood²,

Al-Khayyt³

2021

(AREJ)

View full text Add to dashboard Cite

Nowadays, the mobile robot can be seen in different fields of engineering and science. The mobile robot can do some tasks that are so difficult or very risky to be performed by a human. Most of the works currently focus on implementing artificially intelligent algorithms and other algorithms that depend on the behaviour of nature. These approaches have been used in mobile robot navigation along uncertain manner. Mobile robot navigation strategies can be divided into two approaches: the classical approach and reactive approach. The classical approach related to static environment, whiles the reactive navigation is based on an unstructured environment. Path planning is one of the most important parts of the navigation system. In this paper, review and assessment of path planning strategies that can concern with the reactive approach are discussed, because it deal with the problem of dynamic environment. Numerous reactive methods have been introduced. Most of these presented works were concerned with simulation and a few of them have shown experimental implementation. Many papers tried to make a combination between two algorithms or more to increase the efficiency. It is concluded that reactive algorithms need more learning phases, complex in design, and require large memory storage.

show abstract

“…The work of [ 15 ] proposed a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the Artificial Potential Fields (APF) algorithm for the online planner. In [ 16 ], the authors used a bat algorithm for solving the mobile robots’ global localization problem.…”

Section: Introductionmentioning

confidence: 99%

A Framework for Coverage Path Planning Optimization Based on Point Cloud for Structural Inspection

Biundini

Pinto

Melo

et al. 2021

Sensors

Self Cite

View full text Add to dashboard Cite

Different practical applications have emerged in the last few years, requiring periodic and detailed inspections to verify possible structural changes. Inspections using Unmanned Aerial Vehicles (UAVs) should minimize flight time due to battery time restrictions and identify the terrain’s topographic features. In this sense, Coverage Path Planning (CPP) aims at finding the best path to coverage of a determined area respecting the operation’s restrictions. Photometric information from the terrain is used to create routes or even refine paths already created. Therefore, this research’s main contribution is developing a methodology that uses a metaheuristic algorithm based on point cloud data to inspect slope and dams structures. The technique was applied in a simulated and real scenario to verify its effectiveness. The results showed an increasing 3D reconstructions’ quality observing optimizing photometric and mission time criteria.

show abstract

Mobile Robot Localization Based on the Novel Leader-Based Bat Algorithm

Cited by 14 publications

References 20 publications

Shared control methodology based on head positioning and vector fields for people with quadriplegia

Shared control methodology based on head positioning and vector fields for people with quadriplegia

Assessment and Review of the Reactive Mobile Robot Navigation

A Framework for Coverage Path Planning Optimization Based on Point Cloud for Structural Inspection

Contact Info

Product

Resources

About