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    Wyświetlanie 1-6 z 6
    Tytuł:
    Mobile robot visual homing by vector pre-assigned mechanism
    Autorzy:
    Ji, X.
    Zhu, Q.
    Wang, J.
    Cai, C.
    Ma, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/201155.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    robot navigation
    visual homing
    panoramic vision
    ALV
    HiSS
    nawigacja robotów
    Opis:
    In this paper, we present an optimization mechanism for two popular landmark-based mobile robot visual homing algorithms (ALV and HiSS), called vector pre-assigned mechanism (VPM). VPM contains two branches, both of which can promote the homing performance effectively. In addition, to make the landmark distribution satisfy the equal distance assumption, a landmark optimization strategy is proposed based on imaging principle of the panoramic vision. Experiments on both panoramic image database and a real mobile robot have confirmed the effectiveness of the proposed methods.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 2; 213-227
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Synthesis and evaluation of the smart electric powered wheelchair route stabilization concept – a simulation study
    Autorzy:
    Skrzypczyk, K.
    Gałuszka, A.
    Antas, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/964024.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous robots
    robot navigation
    sensory system
    electric power wheelchair
    motion control
    Opis:
    The paper addresses the problem of algorithm synthesis for controlling the motion of an electric powered wheelchair. The aim of the algorithm is to stabilize the wheelchair following a linear path and avoiding obstacles if occurred on its way. The main restriction imposed on the project is the application of simple low-cost sensors. That implies the system to cope with a number of inaccuracies and uncertainties related to the measurements. The goal of this work is to evaluate the possibility of the wheelchair project with a navigation system which aids a disable person to move in a complex and dynamic areas. Exemplary simulations are presented in order to discuss the results obtained.
    Źródło:
    Archives of Control Sciences; 2015, 25, 2; 263-273
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Vision-Based Mobile Robot Navigation
    Autorzy:
    Berrabah, S. A.
    Colon, E.
    Powiązania:
    https://bibliotekanauki.pl/articles/384895.pdf
    Data publikacji:
    2008
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    robot navigation
    vision-based SLAM
    local and global mapping
    adaptive fuzzy control
    Opis:
    This paper presents a vision-based navigation system for mobile robots. It enables the robot to build a map of its environment, localize efficiently itself without use of any artificial markers or other modifications, and navigate without colliding with obstacles. The Simultaneous Localization And Mapping (SLAM) procedure builds a global representation of the environment based on several size limited local maps built using the approach introduced by Davison [1]. Two methods for global map are presented; the first method consists in transforming each local map into a global frame before to start building a new local map. While in the second method, the global map consists only in a set of robot positions where new local maps are started (i.e. the base references of the local maps). In both methods, the base frame for the global map is the robot position at instant . Based on the estimated map and its global position, the robot can find a path and navigate without colliding with obstacles to reach a goal defined the user. The moving objects in the scene are detected and their motion is estimated using a combination of Gaussian Mixture Model (GMM) background subtraction approach and a Maximum a Posteriori Probability Markov Random Field (MAP-MRF) framework [2]. Experimental results in real scenes are presented to illustrate the effectiveness of the proposed method.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2008, 2, 4; 7-13
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Homography augmented particle filter SLAM
    Autorzy:
    Słowak, Paweł Leszek
    Kaniewski, Piotr
    Powiązania:
    https://bibliotekanauki.pl/articles/27311746.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Czasopisma i Monografie PAN
    Tematy:
    Simultaneous Localization and Mapping
    SLAM
    homography matrix
    particle filter
    robot navigation
    visual-inertial systems
    Opis:
    The article presents a comprehensive study of a visual-inertial simultaneous localization and mapping (SLAM) algorithm designed for aerial vehicles. The goal of the research is to propose an improvement to the particle filter SLAM system that allows for more accurate and robust navigation of unknown environments. The authors introduce a modification that utilizes a homography matrix decomposition calculated from the camera frame-to-frame relationships. This procedure aims to refine the particle filter proposal distribution of the estimated robot state. In addition, the authors implement a mechanism of calculating a homography matrix from robot displacement, which is utilized to eliminate outliers in the frame-to-frame feature detection procedure. The algorithm is evaluated using simulation and real-world datasets, and the results show that the proposed improvements make the algorithm more accurate and robust. Specifically, the use of homography matrix decomposition allows the algorithm to be more efficient, with a smaller number of particles, without sacrificing accuracy. Furthermore, the incorporation of robot displacement information helps improve the accuracy of the feature detection procedure, leading to more reliable and consistent results. The article concludes with a discussion of the implemented and tested SLAM solution, highlighting its strengths and limitations. Overall, the proposed algorithm is a promising approach for achieving accurate and robust autonomous navigation of unknown environments.
    Źródło:
    Metrology and Measurement Systems; 2023, 30, 3; 423--439
    0860-8229
    Pojawia się w:
    Metrology and Measurement Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Exploring spatial relationships : a strategy for guiding technological problem solving
    Autorzy:
    Langley, D.
    Zadok, Y.
    Arieli, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/384908.pdf
    Data publikacji:
    2014
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    project-based learning
    visualization
    spatial relationships
    guidance
    robot navigation
    non-contact distance sensor
    inert knowledge
    Opis:
    The growing realization of the benefits to individual students and to state economies, of providing science learners with opportunities to expand their knowledge, skills and experience of knowledge-based technological design has led to seeking instructional strategies to facilitate the transition from traditional school settings to project based learning environments. This paper refers to engaging high school physics and computer-science majors in challenging design projects which seek to activate and implement the often inert formal content knowledge within the context of designing and constructing systems dealing with real world engineering challenges in robotics and electro-optics. In this paper we suggest that visualization of the problem space and guided exploration of its spatial relationships can promote the elicitation of relevant formal knowledge and lead to creative solution design. These methods are described in the context of designing and programming robot navigation and in the context of developing remote distance sensors.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2014, 8, 1; 30-36
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A machine learning-based mobile robot visual homing approach
    Autorzy:
    Zhu, Q.
    Ji, X.
    Wang, J.
    Cai, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/201706.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    robot navigation
    visual homing
    panoramic vision sensors
    machine learning
    homing performance
    nawigacja robotów
    panoramiczny czujnik wizyjny
    uczenie maszynowe
    Opis:
    Visual homing enables mobile robots to move towards a previously visited location solely based on panoramic vision sensors. In this paper, a SIFT-based visual homing approach incorporating machine learning is presented. The proposed approach can reduce the impact of inaccurate landmarks on the performance, and generate more precise home direction with simple model. The effectiveness of the proposed approach is verified on both panoramic image databases and actual mobile robot, experimental results reveal that compared to some traditional visual homing methods, the proposed approach exhibits better homing performance and adaptability in both static and dynamic environments.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2018, 66, 5; 621-634
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-6 z 6

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