Navigation technology of autonomous mobile robots in unknown environments

Li, Tuanjie; Yuan, Gao-Wei; Duan, Qingjuan

doi:10.1109/mesa.2010.5552012

Cited by 3 publications

(2 citation statements)

References 8 publications

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“…In addition, the method application for the control in the real-time mode with time limitations is widely spreading. The methods of the local mobile robot motion planning require relatively small time scales, and that helps the robot operate faster and allows it to perform various tasks in critical situations in an unknown environment, for instance, in warfare or in the vehicle use [20]. The local planning methods differ from the global planning methods in the way they allow to control the mobile robot of any configuration.…”

Section: Resultsmentioning

confidence: 99%

Trajectory planning of mobile robot movement in unknown environment

Nemeiksis¹,

Osadčuks²

2017

Engineering for Rural Development

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Abstract. The application of mobile robots is becoming more and more common in order to perform various tasks under conditions where the presence of the human in their site is impossible on safety grounds or unacceptable due to the reduction of the productivity of the technological equipment served by them. The objective of robot movement planning is to guarantee the desirable robot movement path as it moves across the planned path on the basis of controlling impacts, i.e. sensors. Numerous investigations were carried out under unknown environment conditions, which were intended for addressing the problem of robot movement without colliding with obstacles in its path by employing various navigation methods. The purpose of this paper is to analyse navigation methods employed for addressing the problem of robot movement without colliding with obstacles in its path under unknown environment conditions. The paper analyses the multi-agent system framework, generalized agent control system framework, local path planning algorithm for robots in an unknown two-dimensional space and other related questions in order to reach the above-mentioned purpose.Keywords: geometric path planning method, multi-agent system, artificial potential method, global planning, local planning. IntroductionThe development of mobile robotics is determined by the desire to replace men at hard and routine, dangerous and responsible work, i.e. in warehouses for efficiently moving materials from stocking shelves to order fulfilment zones, in hospitals for moving materials, in military for clearing mines, in household for vacuuming or gardening etc. The most important characteristics of such robot are mobility and autonomy. In this case, autonomy is necessary in order to guarantee the movement in an unknown environment so that the mobile robot (MR) is able to independently move in an unknown environment performing the task set.The mobile robot movement planning is the most important issue of the autonomous robototechnical system control and one of the fields of modern science and practice most actively investigated. The solution to the task of robot movement planning colliding encompasses questions related with scientific fields such as artificial intelligence, computational geometry, computer simulation and the theory of automatic control. The automation of the movement planning process by also minimising the time costs for preparation and completion operations as well as by accelerating the process of switching the robot from one production task to another constitute the basis for flexible production organisation.Various achievements of scientists in this field enabled to determine the priority trends of mobile robot development. The main design tasks of mobile robot movement in unknown environment conditions are provided in Figure 1 [1; 2].It is easy to understand that the solution to the tasks listed above (Figure 1) requires the solution to a variety of main autonomous mobile robot tasks. First, the robot shall plan a fast and passable route i...

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Section: Resultsmentioning

confidence: 99%

Trajectory planning of mobile robot movement in unknown environment

Nemeiksis¹,

Osadčuks²

2017

Engineering for Rural Development

View full text Add to dashboard Cite

show abstract

“…This is related to the fact that the most significant development in the field of automatic solution methods of localization tasks concentrated on the elements of artificial intelligence. In order to navigate mobile robots operating in different environment, for instance, underwater or up in the air, the modified versions of the overground environment methods are applied [7][8][9][10].…”

Section: Methodsmentioning

confidence: 99%

Mobile robot movement planning and control intelligent system in unknown environment

Nemeiksis

Osadčuks

2018

Engineering for Rural Development

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Abstract. Robot engineering and related technologies have been rapidly developing during the last decades providing more and more opportunities for using robots in various fields of human activity. In the first place, this is due to continuous improvement of the characteristics of robot engines, energy resources, on-board system calculation tools, and, most importantly, development of sensory tools. This not only improves the management of the robot movement, but also allows for developing custom control systems of advanced levels. At the beginning of this century, the most rapid development in the field of mobile robots was observed in autonomous mobile robots that function in an unknown environment, which constitute the research object of this article. Therefore, the purpose of this article is to prepare the intelligent systems development methods for mobile robot motion planning, which ensure that the robot performs a planned and adjusted during the movement safe trajectory in an environment with unfamiliar obstacles. In order to achieve this purpose, a theoretical research of the mechatronic mobile robot's movement in an unknown environment was carried out, based on which the corresponding results of the research have been obtained, i.e. the theoretical operative control systems for mobile robot's movement in an unknown environment have been tested in real practical situation by designing a theoretical scheme for this research that consists of a laboratory model of a bi-cycle mobile robot and a special algorithm for its operative control. The results of the research evaluate the effectiveness of such mobile robot operation, also they show the progress and resutls of the theoretical experiment in unknown environment with certain obstacles set out in random places on the mobile robot path, as well as they identify the main factors how to improve the experimental research base.

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Improved simultaneous localization and mapping by stereo camera and SURF

Wang

Chen

2013

2013 CACS International Automatic Control Conference (CACS)

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Navigation technology of autonomous mobile robots in unknown environments

Cited by 3 publications

References 8 publications

Trajectory planning of mobile robot movement in unknown environment

Trajectory planning of mobile robot movement in unknown environment

Mobile robot movement planning and control intelligent system in unknown environment

Improved simultaneous localization and mapping by stereo camera and SURF

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