The enhancement of PCSM method by motion history analysis

Vĕchet, Stanislav; Krejsa, J.; Houška, Pavel

doi:10.1007/978-3-540-73956-2_22

Cited by 11 publications

(4 citation statements)

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“…Thus, in our case, it is used mainly for testing the walking gait generation algorithms based on state space search methods, see [2], and also for global localization algorithms [3]. However, the submitted solution can be also used for path planning algorithms, investigation of dynamic influences in mobile robot control, testing algorithms for unknown spaces mapping, see [4], and many others.…”

Section: Introductionmentioning

confidence: 99%

The Solution of 3D Indoor Simulation of Mobile Robots Using ODE

Ondroušek

2010

Recent Advances in Mechatronics

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Abstract. This contribution deals with the development of the complex solution of various mobile robots simulations in 3D indoor spaces. Proposed solution enables to create miscellaneous complex inner spaces with furniture of office visual appearance. Furthermore, it allows including different mobile robots and saving the state of simulation using standard XODE format. It is also possible to include and test different algorithms, e.g. walking gait generation algorithms or methods for autonomous robots localization, path planning and many others. The designed project is based on open source libraries, like Open Dynamic Engine or OpenGL.

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Section: Introductionmentioning

confidence: 99%

The Solution of 3D Indoor Simulation of Mobile Robots Using ODE

Ondroušek

2010

Recent Advances in Mechatronics

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“…Indoor localization becomes increasingly important due to the development of intelligent living and building automation technologies, where accurate position information is a fundamental task on indoor mobile robot navigation [1]. Navigation, control coordinated motion, and subsequent tasks of mobile robot could be achieved with the position information.…”

Section: Introductionmentioning

confidence: 99%

Development of General Wiimote 3D Localization Scheme and its Application on Robot Arm Attitude Detection

Hsu

Chan

et al. 2020

JIIAE

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Indoor localization has been receiving great interest and 2D localization system based on infrared LED-based wiimote camera is also well-developed. Although 3D positioning techniques based on infrared LED detection have been proposed and validated, it is not yet matured for general indoor localization due to its insufficient sensing zone and specific layout attitude, which may not always have been satisfied. In this work, based on previous research, a layout is proposed to extend the sensing region to cover the entire indoor space by deploying many wiimote 3D pairs and make sure the object can be detected by at least two wiimote pairs during motion. However, this also implies that the original optimal deployed attitude cannot be maintained. As a result, to deal with this problem, a variable-angle dual wiimote 3D system is developed and corresponding localization performance and sensitivity analysis is carried out for clarifying the above concern. From sensitivity analysis result, better performance in X displacement detection is achieved with the orientation setting in 90 • , and the results also shows the system to be more sensitive to the error in orientation. Furthermore, the scheme is also applied to robot arm attitude determination, and shows the high possibility for this system developing into an effective external sensor for robot arm controlling. It is expected that this wiimote 3D localization system to have a great potential on inexpensive and precise general indoor localization system.

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“…Laser rangefinders are essential sensors for mobile robot mapping and localization, no matter the algorithm used, see, e.g., (Vechet 2007(Vechet , 2014, as well as for obstacle avoidance. While localization can be solved by other means, for example using active beacons, as illustrated in Krejsa (2010), laser range finders are difficult to compete when the model of robot surrounding is being built, as proved by Ye (2002).…”

Section: Introductionmentioning

confidence: 99%

Low cost laser rangefinder evaluation

2018

Engineering Mechanics

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Laser rangefinders are essential tools in indoor mobile robot navigation. Lately several low-cost models become available, enabling the use of this type of sensor in broader range of applications. This paper evaluates the properties of currently (2018) the cheapest sensor available, particularly RPLidar A1M8, in order to determine whether it is usable in mobile robot development. As the sensor is based on triangulation principle, the increase of errors with the measured distance was expected; the experiments proved these expectations. Furthermore, the increasing, but linear trend in absolute measurement error was observed. The influence of surface material and color was also evaluated. The measurements indicate that RPLidar A1M8 can serve as a useful alternative for more expensive types of laser rangefinders.

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The enhancement of PCSM method by motion history analysis

Cited by 11 publications

References 0 publications

The Solution of 3D Indoor Simulation of Mobile Robots Using ODE

The Solution of 3D Indoor Simulation of Mobile Robots Using ODE

Development of General Wiimote 3D Localization Scheme and its Application on Robot Arm Attitude Detection

Low cost laser rangefinder evaluation

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