A low cost localization algorithm for an autonomous lawnmower

Levratti, Alessio; Secchi, Cristian; Fantuzzi, Cesare

doi:10.1109/romoco.2013.6614621

Cited by 6 publications

(2 citation statements)

References 18 publications

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“…Certain autonomous lawn mowers require the installation of a current carrying boundary wire buried in the ground for perimeter identification purposes. Once a current passes along the wire, the electromagnetic field generated due to it is captured using the Hall-effect sensors in the mower thus directing it in the required path [3]. However, this method has been proved to be inefficient and costly in nature.…”

Section: Introductionmentioning

confidence: 99%

Fabrication of an Autonomous Lawn Mower Prototype with Path Planning and Obstacle Avoiding Capabilities

et al. 2017

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Autonomous lawn mowers have been identified as one of the most famous innovations in the recent past. However, complex operational functions, data acquisition methods and the high costs of supporting items result in the expensive nature of these autonomous lawn mowers which in turn dissuades its use in domestic environments. Primary objectives of the research comprised of building a system to identify the working perimeter by means of waypoint identification and the development of an algorithm to detect obstacles in the path followed. This paper presents the completed mechanical design of an autonomous lawn mower prototype while innovating the art of lawnmower fabrication by using colour identification camera modules for path planning with the aid obstacle avoidance integrated in it.

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Section: Introductionmentioning

confidence: 99%

Fabrication of an Autonomous Lawn Mower Prototype with Path Planning and Obstacle Avoiding Capabilities

et al. 2017

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“…Only simple reactive behaviours such as "edge-following" and "spiral" were implemented on the early systems, while more recent robots implement more sophisticated technologies, including navigation and path planning techniques [1]. Currently autonomous lawn mowers use a variety of technologies including wireless beacons, below surface boundary wires that emit electromagnetic signals, GPS, laser scanners, and even radio technologies [5]. Modern robotic vacuum cleaners today utilize IR, 2D and/or ceiling facing cameras to help navigate and localize within an environment.…”

Section: Introductionmentioning

confidence: 99%

2D visual place recognition for domestic service robots at night

Mount

Milford

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Domestic service robots such as lawn mowing and vacuum cleaning robots are the most numerous consumer robots in existence today. While early versions employed random exploration, recent systems fielded by most of the major manufacturers have utilized range-based and visual sensors and user-placed beacons to enable robots to map and localize. However, active range and visual sensing solutions have the disadvantages of being intrusive, expensive, or only providing a 1D scan of the environment, while the requirement for beacon placement imposes other practical limitations. In this paper we present a passive and potentially cheap vision-based solution to 2D localization at night that combines easily obtainable day-time maps with low resolution contrast-normalized image matching algorithms, image sequence-based matching in two-dimensions, place match interpolation and recent advances in conventional low light camera technology. In a range of experiments over a domestic lawn and in a lounge room, we demonstrate that the proposed approach enables 2D localization at night, and analyse the effect on performance of varying odometry noise levels, place match interpolation and sequence matching length. Finally we benchmark the new low light camera technology and show how it can enable robust place recognition even in an environment lit only by a moonless sky, raising the tantalizing possibility of being able to apply all conventional vision algorithms, even in the darkest of nights.

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