Robust omnidirectional mobile robot topological navigation system using omnidirectional vision

Li, Maohai; Wang, Han; Sun, Lining; Cai, Zixing

doi:10.1016/j.engappai.2013.05.010

Cited by 23 publications

(13 citation statements)

References 26 publications

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“…Generally speaking, the autonomous navigation process usually performs three main tasks, localization, mapping, and navigation, and every task plays an important role to the others. 8 In earlier times, some navigation methods, such as potential field methods, 9,10 topological navigation, 11,12 and so on, are applied frequently. Through these methods, a robot can achieve self-navigation easily, whereas these methods may have some shortcomings.…”

Section: Introductionmentioning

confidence: 99%

A novel fuzzy three-dimensional grid navigation method for mobile robots

Shi

Pan

et al. 2017

International Journal of Advanced Robotic Systems

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The objective of the autonomous navigation aims to achieve the self-motion control for a robot with the environmental feedbacks and becomes popular recently. Problems of complex modeling, large amount of calculation, and lacking of environmental information always exist in autonomous navigation methods. This article proposes a self-navigation method with a fuzzy three-dimensional grid depicted by dual two-dimensional grid maps. Meanwhile, a synthetic preprocess is presented to perform localization through switching among the weighted three-point localization method, the two-point localization method, and the weighted average localization method. For reducing the amount of calculation, an improved fuzzy three-dimensional grid mapping method where the three-dimensional map is described by dual two-dimensional grid maps, the identifier map, and the height map is designed. Especially, the static and dynamic information within the map are divided and updated fuzzily. The global path planning is performed with the static information, and the real-time obstacle avoidance is conducted with the dynamic information. The results of simulations and experiments demonstrate that the proposed method has better properties in efficiency of navigation and lower amount of calculation than the competing methods.

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Section: Introductionmentioning

confidence: 99%

A novel fuzzy three-dimensional grid navigation method for mobile robots

Shi

Pan

et al. 2017

International Journal of Advanced Robotic Systems

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“…Nowadays, use of machine vision in mobile robot map representation is highly regarded (Maohai et al, 2013;Bacca et al, 2011;Zhang et al, 2012). A mobile robot needs to process image data received from its environment to build an environmental map (Tapus, 2005).…”

Section: Introductionmentioning

confidence: 99%

Manifold based map representation for mobile robot using Euclidean data difference dimension reduction

Omranpour

Ghidary

2015

Engineering Applications of Artificial Intelligence

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“…In this work, we consider a robot equipped with an omnidirectional vision system [ 1 ]. We can find many previous works that use omnidirectional images in mapping and localization tasks, such as [ 2 , 3 , 4 , 5 ]. Valiente et al .…”

Section: Introductionmentioning

confidence: 99%

“…Maohai et al . [ 3 ] propose a topological navigation system using omnidirectional vision. Garcia et al [ 4 ] present a map refinement framework that uses visual information to refine the topology of the environment.…”

Section: Introductionmentioning

confidence: 99%

Position Estimation and Local Mapping Using Omnidirectional Images and Global Appearance Descriptors

Berenguer

Payá

2015

Sensors

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This work presents some methods to create local maps and to estimate the position of a mobile robot, using the global appearance of omnidirectional images. We use a robot that carries an omnidirectional vision system on it. Every omnidirectional image acquired by the robot is described only with one global appearance descriptor, based on the Radon transform. In the work presented in this paper, two different possibilities have been considered. In the first one, we assume the existence of a map previously built composed of omnidirectional images that have been captured from previously-known positions. The purpose in this case consists of estimating the nearest position of the map to the current position of the robot, making use of the visual information acquired by the robot from its current (unknown) position. In the second one, we assume that we have a model of the environment composed of omnidirectional images, but with no information about the location of where the images were acquired. The purpose in this case consists of building a local map and estimating the position of the robot within this map. Both methods are tested with different databases (including virtual and real images) taking into consideration the changes of the position of different objects in the environment, different lighting conditions and occlusions. The results show the effectiveness and the robustness of both methods.

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Robust omnidirectional mobile robot topological navigation system using omnidirectional vision

Cited by 23 publications

References 26 publications

A novel fuzzy three-dimensional grid navigation method for mobile robots

A novel fuzzy three-dimensional grid navigation method for mobile robots

Manifold based map representation for mobile robot using Euclidean data difference dimension reduction

Position Estimation and Local Mapping Using Omnidirectional Images and Global Appearance Descriptors

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