Online Robot Navigation Using Continuously Updated Artificial Temperature Gradients

Golan, Yoav; Edelman, Shmil; Shapiro, Amir; Rimon, Elon

doi:10.1109/lra.2017.2665682

Cited by 15 publications

(6 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is noted that the portion of the two smooth paths is between two obstacles, thus no collision is guaranteed, and the maximum curvature of either path does not violate the maximum curvature. As remarked in Reference [28], the smoothness of the trajectory and its gradient is generic due to the physical characteristics of the continuously differentiable velocity potential solution to Laplace's Equation mentioned in Section 3. The map of the environment is created by Hector SLAM, an open source SLAM algorithm available in ROS [23] based on the laser range data processed after the experiment.…”

Section: Online Static Cylinder Obstacles Avoidancementioning

confidence: 99%

“…New methods to non-holonomic path planning are given in Reference [34], which proposed to steer the non-holonomic mobile robot without additional constraints via rotation and linear translation using trigonometric switch inputs, a generic APF-based method via deforming a feasible path of non-holonomic systems (e.g., a mobile robot with trailers) without the violating non-holonomic constraint [35], and the ones based on partial differential equations other than the Laplace's Equation coined by References [7,24], which applied a parabolic partial differential equation, and Reference [29], which used the Navier-Stokes equation of viscous flow for path planning. It is noted that HPF is interpreted in heat conduction, instead of hydrodynamics, in a recent work [28] with a demonstration of a real-time mobile robot navigation experiment.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Real-Time Hydrodynamic-Based Obstacle Avoidance System for Non-holonomic Mobile Robots with Curvature Constraints

Kuo¹,

Wang²,

Chou³

et al. 2018

Applied Sciences

View full text Add to dashboard Cite

The harmonic potential field of an incompressible nonviscous fluid governed by the Laplace’s Equation has shown its potential for being beneficial to autonomous unmanned vehicles to generate smooth, natural-looking, and predictable paths for obstacle avoidance. The streamlines generated by the boundary value problem of the Laplace’s Equation have explicit, easily computable, or analytic vector fields as the path tangent or robot heading specification without the waypoints and higher order path characteristics. We implemented an obstacle avoidance approach with a focus on curvature constraint for a non-holonomic mobile robot regarded as a particle using curvature-constrained streamlines and streamline changing via pure pursuit. First, we use the potential flow field around a circle to derive three primitive curvature-constrained paths to avoid single obstacles. Furthermore, the pure pursuit controller is implemented to achieve a smooth transition between the streamline paths in the environment with multiple obstacles. In addition to comparative simulations, a proof of concept experiment implemented on a two-wheel driving mobile robot with range sensors validates the practical usefulness of the integrated system that is able to navigate smoothly and safely among multiple cylinder obstacles. The computational requirement of the obstacle avoidance system takes advantage of an a priori selection of fast computing primitive streamline paths, thus, making the system able to generate online a feasible path with a lower maximum curvature that does not violate the curvature constraint.

show abstract

Section: Online Static Cylinder Obstacles Avoidancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Real-Time Hydrodynamic-Based Obstacle Avoidance System for Non-holonomic Mobile Robots with Curvature Constraints

Kuo¹,

Wang²,

Chou³

et al. 2018

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…Tey have used the e-puck robot on the Webots platform to check the simulation results. Golan et al [13] proposed an online robot navigation system using artifcial temperature gradients techniques. Te environment with obstacles is taken as a "hot" junction and the target is taken as a "cold" junction.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning and Collision Control of a Mobile Robot: A Penalty‐Based PSO Approach

Pandey

Kumbhar

Parhi

et al. 2023

Mathematical Problems in Engineering

View full text Add to dashboard Cite

In this paper, trajectory planning and navigation control problems have been addressed for a mobile robot. To achieve the objective of the research, an adaptive PSO (Particle Swarm Optimization) motion algorithm is developed using a penalty-based methodology. To deliver the best or collision-free position to the robot, fitness values of the all-random-positioned particles are compared at the same time during the target search action. By comparing the fitness values, the robot occupies the best position in the search space till it reaches the target. The new work integrated with conventional PSO is varying a velocity event that plays a vital role during the position acquisition (continuous change in position during the obstacle negotiation with the communication through random-positioned particles). The obstacle-negotiating angle and positional velocity of the robot are considered as input parameters of the controller whereas the robot's best position according to the target position is considered as the output of the controller. Simulation results are presented through the MATLAB environment. To validate simulation results, real-time experiments have been conducted in a similar workspace. The results of the adaptive PSO technique are also compared with the results of the existing navigational techniques. Improvements in results between the proposed navigation technique and existing navigation techniques are found to be 4.66% and 11.30%, respectively.

show abstract

“…Another example is temperature sensors on artificial intelligence robots, which help robots detect the environmental temperature. Through synchronous motility and sensory perception, robots can adapt to changing environments by actively responding to temperature and other stimuli [21][22][23][24] .…”

Section: Introductionmentioning

confidence: 99%

Optical whispering-gallery mode barcodes for high-precision and wide-range temperature measurements

2021

View full text Add to dashboard Cite

Temperature is one of the most fundamental physical properties to characterize various physical, chemical, and biological processes. Even a slight change in temperature could have an impact on the status or dynamics of a system. Thus, there is a great need for high-precision and large-dynamic-range temperature measurements. Conventional temperature sensors encounter difficulties in high-precision thermal sensing on the submicron scale. Recently, optical whispering-gallery mode (WGM) sensors have shown promise for many sensing applications, such as thermal sensing, magnetic detection, and biosensing. However, despite their superior sensitivity, the conventional sensing method for WGM resonators relies on tracking the changes in a single mode, which limits the dynamic range constrained by the laser source that has to be fine-tuned in a timely manner to follow the selected mode during the measurement. Moreover, we cannot derive the actual temperature from the spectrum directly but rather derive a relative temperature change. Here, we demonstrate an optical WGM barcode technique involving simultaneous monitoring of the patterns of multiple modes that can provide a direct temperature readout from the spectrum. The measurement relies on the patterns of multiple modes in the WGM spectrum instead of the changes of a particular mode. It can provide us with more information than the single-mode spectrum, such as the precise measurement of actual temperatures. Leveraging the high sensitivity of WGMs and eliminating the need to monitor particular modes, this work lays the foundation for developing a high-performance temperature sensor with not only superior sensitivity but also a broad dynamic range.

show abstract

Online Robot Navigation Using Continuously Updated Artificial Temperature Gradients

Cited by 15 publications

References 24 publications

A Real-Time Hydrodynamic-Based Obstacle Avoidance System for Non-holonomic Mobile Robots with Curvature Constraints

A Real-Time Hydrodynamic-Based Obstacle Avoidance System for Non-holonomic Mobile Robots with Curvature Constraints

Trajectory Planning and Collision Control of a Mobile Robot: A Penalty‐Based PSO Approach

Optical whispering-gallery mode barcodes for high-precision and wide-range temperature measurements

Contact Info

Product

Resources

About