Safe and Robust Mobile Robot Navigation in Uneven Indoor Environments

Wang, Chaoqun; Wang, Jiankun; Li, Chenming; Ho, Danny; Cheng, Jiyu; Yan, Tiekun; Meng, Lili; Meng, Max Q.-H.

doi:10.3390/s19132993

Cited by 29 publications

(14 citation statements)

References 49 publications

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“…However, not all proposed concepts for MiR100 [6] have been implemented, and their mutual evaluation is still missing. For [7], safe and robust movement in a complex 3D environment, scenarios were obtained by the combination of variable step-size rapidly exploring random-tree (RRT) method for global path planning together with the local planner for safe path optimization. A solution for the quantitative derivation of the collision risk with the speed control strategies for safe indoor navigation was presented in [8].…”

Section: Related Workmentioning

confidence: 99%

Phollower—The Universal Autonomous Mobile Robot for Industry and Civil Environments with COVID-19 Germicide Addon Meeting Safety Requirements

Bačík

Tkáč²,

Hric³

et al. 2020

Applied Sciences

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This paper describes the development of Phollower—an autonomous mobile robot intended to perform various logistical tasks in both industrial and civil environments. Phollower is equipped with the latest types of industrial components and sensors. It also employs advanced embedded navigation and localization software to create its own virtual maps and thereby to navigate autonomously within the mapped area. The whole development process has been focused on building a device that meets European safety standards. Phollower is a universal mobile platform that can be quickly expanded with specialized add-ons. A germicidal add-on for disinfection of indoor areas using UV-C light is described as a technology that helps to battle with the ongoing COVID-19 pandemic crisis. The hardware topology combined with the proposed open Programmable Logic Controller (PLC) code and open-Powerlink communication bus creates a unique and easily extendable robot platform.

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Section: Related Workmentioning

confidence: 99%

Phollower—The Universal Autonomous Mobile Robot for Industry and Civil Environments with COVID-19 Germicide Addon Meeting Safety Requirements

Bačík

Tkáč²,

Hric³

et al. 2020

Applied Sciences

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show abstract

“…The path included a 10m steep slope (50 o ) followed by a 5-m flat area, which transitioned into a 30-m variable-slope region (20-50 o ) to the top. The path also included some minor (about 10•) cross-slopes [15], [57], [58], [59]. The terrain was hard soil covered with light vegetation [15].…”

Section: Testing Methodsmentioning

confidence: 99%

A Review of Mobile Robot Navigation System for Volcano Monitoring Application

Evita¹

2021

ijp

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Volcano is a geological environment including magma, eruption, volcanic edifice and its basements. For continuous monitoring after eruption, a mobile robot could be proposed as an alternative to prevent hazardous effect to volcanologist who perform up close monitoring. In this paper, the robots were divided into 3 types according to their different structures: legged, track-legged and wheeled mobile robots. Meanwhile, the navigation system were implemented in 4 steps suitable for volcano condition: environment mapping, trajectory design, motion control and obstacle avoidance. These navigation system also tested in different locations: indoor, outdoor and real volcano with different testing method for these robots. The testing result was discussed in robot kinematics parameter such as trajectory, velocity, slope angle, rollover and sideslip angels.

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“…The localization strategy in the experiment is a learning-based camera relocalization method [35]. For mapping, we use the grid mapping strategy in [20] to build an elevation map of the environment, which is shown in Fig.…”

Section: ) Traversable Map Generationmentioning

confidence: 99%

Stable Autonomous Robotic Wheelchair Navigation in the Environment With Slope Way

Wang

Xia

Meng

2020

IEEE Trans. Veh. Technol.

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In this article, we present a path planning approach that is capable of generating a feasible trajectory for stable robotic wheelchair navigation in the environment with slope way. Firstly, the environment is modeled by a lightweight navigation map, with which the proposed sampling-based path planning scheme with a modified extension function can generate a feasible path. Then, the path is further optimized by the proposed utility function involving the human comfort and the path cost. To improve the searching efficiency of an optimal trajectory, we present an adaptive weighting Gaussian Mixture Model (GMM) based sampling strategy. Particularly, the weights of the components in GMM are adjusted adaptively in the planning process. It is also worth noting that the proposed sampling-based planning paradigm can indicate the unsafe regions in the navigation map, which forms a traversable map and further guarantees the safety of the wheelchair robot navigation. Furthermore, the effectiveness and the efficiency of the proposed path planning method are verified in both simulation and real-world experiments.

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Safe and Robust Mobile Robot Navigation in Uneven Indoor Environments

Cited by 29 publications

References 49 publications

Phollower—The Universal Autonomous Mobile Robot for Industry and Civil Environments with COVID-19 Germicide Addon Meeting Safety Requirements

Phollower—The Universal Autonomous Mobile Robot for Industry and Civil Environments with COVID-19 Germicide Addon Meeting Safety Requirements

A Review of Mobile Robot Navigation System for Volcano Monitoring Application

Stable Autonomous Robotic Wheelchair Navigation in the Environment With Slope Way

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