A review on positioning techniques of mobile robots

Semborski, Jakub; Idzkowski, Adam

doi:10.21595/rsa.2024.23893

Cited by 3 publications

(1 citation statement)

References 45 publications

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“…In addition, positioning also motivates the robot to perceive objects and structures in the environment, identify and locate target objects, and interact with them. Overall, positioning technology for mobile robots is crucial for navigation, task execution, environment awareness, collaboration, and safety [37]. It improves the efficiency, reliability, and safety of robots, and enables them to better adapt to various environments.…”

Section: Mobile Robot Positioningmentioning

confidence: 99%

Research on Positioning and Simulation Method for Autonomous Mobile Construction Platform

Shi,

Wang,

Phillips

et al. 2024

Buildings

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In the architecture, engineering, and construction (AEC) industry, the positioning technology for a mobile construction platform (MCP) is critical to achieve on-site, continuous, large-scale construction. During construction, MCP movement and construction actions seldom occur simultaneously. Therefore, this paper categorizes the MCP into stationary and moving states for positioning studies, respectively. When the platform is stationary, it is positioned using an improved ultra-wideband (UWB) sensor. When the platform is in motion, a single UWB positioning technique cannot meet the required accuracy for positioning, and fusion positioning using both UWB and an inertial measurement unit (IMU) is considered. The experimental results show that compared with only UWB positioning, the improved UWB positioning algorithm improves the positioning accuracy by 53% in the stationary state, and the fused UWB/IMU positioning improves the positioning accuracy by 46% in the moving state. As a result, the positioning accuracy of the MCP is significantly improved regardless of whether it is in a stationary or moving state. Furthermore, this paper integrates the positioning technique with the robotic arm construction technique to successfully simulate an on-site continuous construction of a wooden cabin, which provides the potential for large-scale continuous construction in real-world scenarios in the future.

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Section: Mobile Robot Positioningmentioning

confidence: 99%

Research on Positioning and Simulation Method for Autonomous Mobile Construction Platform

Shi,

Wang,

Phillips

et al. 2024

Buildings

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Estudio de invariabilidad de marcas visuales ante cambios de iluminación

Máximo Gutiérrez,

Ballesta,

Valiente

et al. 2024

JA-CEA

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Los robots móviles tienen la capacidad de desplazarse de manera autónoma, para ello es necesario conocer su posición. Esta estimación puede ser obtenida a partir de diversos sensores. Uno de los sensores más comúnmente utilizados son los sistemas de visión por la gran cantidad de información que son capaces de capturar. Para extraer la información más relevante de las imágenes capturadas por las cámaras, se utilizan algoritmos que realizan la detección y su posterior descripción de los puntos más característicos del entorno, también conocidos como marcas visuales. Además, estas marcas visuales deben ser detectadas y descritas de manera que sean invariantes a posibles cambios del entorno. Un caso concreto de estos cambios, son los cambios en la iluminación, común en entornos interiores y exteriores. En este trabajo se ha realizado una evaluación de varios métodos clásicos y métodos que incorporan redes de aprendizaje profundo, para observar su comportamiento ante secuencias de imágenes que presentan diferentes condiciones de iluminación.

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Assessment of Vessel Mooring Conditions Using Satellite Navigation System Real-Time Kinematic Application

Filina-Dawidowicz,

Paulauskas,

Paulauskas

et al. 2024

JMSE

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When mooring a ship near the quay, it is important to monitor its speed at the time of contact with the quay to ensure the safe execution of the mooring operation. During mooring, the speed of the ship must not exceed specified values; therefore, it is very important to have the possibility to measure it with high accuracy and its appropriate adjustment. This article aims to present the assessment methodology of the forces acting on quay equipment when a ship is mooring using data provided by the real-time kinematic (RTK) application of the navigation satellite system, as well as a way to calculate the comparative index, which can show the advantages of using data provided by high-accuracy measurement systems compared with the typical one. The methodology of assessing the forces acting on quay equipment when the ship is mooring using data provided by high-precision systems was applied. To verify the developed methodology, the experiments were carried out on real ships and using a calibrated simulator. Based on the research results, it was stated that when planning and managing ships’ mooring operations in ports using data provided by the RTK application, it is possible to reduce the planned energy absorption of quay fenders up to 1.5–1.8 times while preparing the investment in quay development. The implementation of the developed methodology may contribute to the improvement of navigation safety when ships are mooring near the quays and thus allow for the reduction in the probability of undesirable situations occurring. The research results may be of interest to representatives of seaports authorities, traffic management offices, shipowners and other institutions involved in safe ships’ navigation in seaports and approaches to them.

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A review on positioning techniques of mobile robots

Cited by 3 publications

References 45 publications

Research on Positioning and Simulation Method for Autonomous Mobile Construction Platform

Research on Positioning and Simulation Method for Autonomous Mobile Construction Platform

Estudio de invariabilidad de marcas visuales ante cambios de iluminación

Assessment of Vessel Mooring Conditions Using Satellite Navigation System Real-Time Kinematic Application

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