An extended analysis on tuning the parameters of Adaptive Monte Carlo Localization ROS package in an automated guided vehicle

Reis, Wallace Pereira Neves dos; Silva, Guilherme José da; Morandin, Orides; Vivaldini, Kelen Cristiane Teixeira

doi:10.1007/s00170-021-07437-0

Cited by 13 publications

(7 citation statements)

References 27 publications

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“…To merge these three LiDAR data together, a ROS package was created by following different papers [ 25 , 26 ] related to multi-LiDAR sensor collaboration approaches. Figure 16 shows the algorithm used to merge three lidar sensor data and publish it as one laser data.…”

Section: Slam Based On Rosmentioning

confidence: 99%

Design and Implementation of an Integrated Control System for Omnidirectional Mobile Robots in Industrial Logistics

Neaz

Lee

Nam

2023

Sensors

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The integration of intelligent robots in industrial production processes has the potential to significantly enhance efficiency and reduce human adversity. However, for such robots to effectively operate within human environments, it is critical that they possess an adequate understanding of their surroundings and are able to navigate through narrow aisles while avoiding both stationary and moving obstacles. In this research study, an omnidirectional automotive mobile robot has been designed for the purpose of performing industrial logistics tasks within heavy traffic and dynamic environments. A control system has been developed, which incorporates both high-level and low-level algorithms, and a graphical interface has been introduced for each control system. A highly efficient micro-controller, namely myRIO, has been utilized as the low-level computer to control the motors with an appropriate level of accuracy and robustness. Additionally, a Raspberry Pi 4, in conjunction with a remote PC, has been utilized for high-level decision making, such as mapping the experimental environment, path planning, and localization, through the utilization of multiple Lidar sensors, IMU, and odometry data generated by wheel encoders. In terms of software programming, LabVIEW has been employed for the low-level computer, and the Robot Operating System (ROS) has been utilized for the design of the higher-level software architecture. The proposed techniques discussed in this paper provide a solution for the development of medium- and large-category omnidirectional mobile robots with autonomous navigation and mapping capabilities.

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Section: Slam Based On Rosmentioning

confidence: 99%

Design and Implementation of an Integrated Control System for Omnidirectional Mobile Robots in Industrial Logistics

Neaz

Lee

Nam

2023

Sensors

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“…The crawler robot uses a personal computer (PC) with Ubuntu (16.04) and ROS (Kinetic) systems installed as the upper machine. Based on ROS (Kinetic), this platform achieves functions such as positioning navigation algorithms, sensor data monitoring, and issuing speed control instructions [35,36]. The tracking device contains white flour, which leaves a white line on the ground when the robot moves, representing the actual path taken by the robot.…”

Section: System Componentsmentioning

confidence: 99%

“…this platform achieves functions such as positioning navigation algorithms, sen monitoring, and issuing speed control instructions [35,36]. The tracking device white flour, which leaves a white line on the ground when the robot moves, repr the actual path taken by the robot.…”

Section: System Componentsmentioning

confidence: 99%

Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM

Jia,

Wang,

et al. 2023

Sensors

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To address the issue of low positioning accuracy of mobile robots in trellis kiwifruit orchards with weak signal environments, this study investigated an outdoor integrated positioning method based on ultra-wideband (UWB), light detection and ranging (LiDAR), and odometry (ODOM). Firstly, a dynamic error correction strategy using the Kalman filter (KF) was proposed to enhance the dynamic positioning accuracy of UWB. Secondly, the particle filter algorithm (PF) was employed to fuse UWB/ODOM/LiDAR measurements, resulting in an extended Kalman filter (EKF) measurement value. Meanwhile, the odometry value served as the predicted value in the EKF. Finally, the predicted and measured values were fused through the EKF to estimate the robot’s pose. Simulation results demonstrated that the UWB/ODOM/LiDAR integrated positioning method achieved a mean lateral error of 0.076 m and a root mean square error (RMSE) of 0.098 m. Field tests revealed that compared to standalone UWB positioning, UWB-based KF positioning, and LiDAR/ODOM integrated positioning methods, the proposed approach improved the positioning accuracy by 64.8%, 13.8%, and 38.3%, respectively. Therefore, the proposed integrated positioning method exhibits promising positioning performance in trellis kiwifruit orchards with potential applicability to other orchard environments.

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“…This method uses a finite number of samples to represent a probability distribution. 40,41 Because the number of samples is limited, this scheme is approximate. The distribution function b e l ( x t ) is considered to represent the robot’s awareness about its location in the workspace.…”

Section: Proposed Approachmentioning

confidence: 99%

Visual application of navigation framework in cyber-physical system for mobile robot to prevent disease

Nguyễn

Nguyen

Ngo

2023

International Journal of Advanced Robotic Systems

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In this article, we propose the visual application of a navigation framework for a wheeled robot to disinfect surfaces. Since dynamic environments are complicated, advanced sensors are integrated into the hardware platform to enhance the navigation task. The 2D lidar UTM-30LX from Hokuyo attached to the front of the robot can cover a wide scanning area. To provide better results in laser scan matching, an inertial measurement unit was integrated into the robot’s body. The output of this combination feeds into a global costmap for monitoring and navigation. Additionally, incremental encoders that obtain high-resolution position data are connected to the rear wheels. The role of the positioning sensor is to identify the existing location of the robot in a local costmap. To detect the appearance of a human, a Kinect digital camera is fixed to the top of the robot. All feedback signals are combined in the host computer to navigate the autonomous robot. For disinfection missions, the robot must carry several ultraviolet lamps to autonomously patrol in unknown environments. To visualize the robot’s effectiveness, our approach was validated using both a virtual simulation and an experimental test. The contributions of this work are summarized as follows: (i) a structure for ultraviolet-based hardware was first established; (ii) the theoretical computations for the robot’s localization in the 3D workspace will play a fundamental role in further developments; and (iii) data fusion from advanced sensing devices was integrated to enable navigation in uncertain environments.

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An extended analysis on tuning the parameters of Adaptive Monte Carlo Localization ROS package in an automated guided vehicle

Cited by 13 publications

References 27 publications

Design and Implementation of an Integrated Control System for Omnidirectional Mobile Robots in Industrial Logistics

Design and Implementation of an Integrated Control System for Omnidirectional Mobile Robots in Industrial Logistics

Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM

Visual application of navigation framework in cyber-physical system for mobile robot to prevent disease

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