Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot
Artificial Intelligence Research Institute (IIIA-CSIC)（人工智能研究所 (IIIA-CSIC)）；Computer Vision Center（计算机视觉中心）；Australian Centre for Field Robotics（澳大利亚野外机器人中心）；The University of Sydney（悉尼大学）
Arnau Ramisa, David Aldavert, Shrihari Vasudevan, Ricardo Toledo, Ramon Lopez de Mantaras
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home environments. However, finding a solution for this task is daunting: it requires the ability to handle the variability in image formation in a moving camera with tight time constraints. The paper brings to attention some of the issues with applying three state of the art object recognition and detection methods in a mobile robotics scenario, and proposes methods to deal with windowing/segmentation. Thus, this work aims at evaluating the state-of-the-art in object perception in an attempt to develop a lightweight solution for mobile robotics use/research in typical indoor settings.
We demonstrated multi-mobile robot navigation based on Visible Light Positioning(VLP) localization. From our experiment, the VLP can accurately locate robots' positions in navigation.
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Small mobile robots are an important class of Search and Rescue Robots. Integrating all required components into such small robots is a difficult engineering task. Smartphones have already been made small, lightweight and cheap by the industry and are thus an excellent candidate as main controller for such robots. In this paper we outline how ROS can be used on Android devices and then evaluate one sensor which is very important for mobile robots: the Inertial Measurement Unit (IMU). Experiments are performed under static and dynamic conditions to measure the error of the IMUs of three smartph…
Hanoi University of Industry（河内工业大学）；University of Economics - Technology for Industries（工业经济技术大学）
Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile robot. Furthermore, the robot must remain at its desired speed to cooperate with other agents. This paper presents a development of a motion controller, in which the fuzzy logic method is combined with a kinematic model of a differential drive robot. The simulation results are compared well with experimental results indicate that the method is effective and ap…
Inovasyon Muhendislik Ltd. Sti.（创新工程有限公司）；Research and Development Department（研发部门）
The use of mobile robots has inevitably increased in recent years. The increase in the companies that produce products in this field, the popularity of the studies in the robotic field and the technological competence to serve many different areas have revealed this increase in usage. The importance of mobile robots used as health, education, pro-duction, logistics, defense industry and space equipment is now more important than before. The fact that robotic education can be reduced to a very young age, the production and coding of simple robots with easily accessible parts is also an importan…
Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address this problem, we propose a magnetic-assisted initialization approach that enhances the performance of infrastructure-free mobile robot localization in repetitive featureless environments. The proposed system adopts a coarse-to-fine structure, which mainly consists of two parts: magnetic field-based matching and laser scan matching. Firstly, the interpolated m…
HY Technic Ltd. Sti.（HY技术有限公司）；Eskisehir Osmangazi University（埃斯基谢希尔奥斯曼加齐大学）；Inovasyon Muhendislik Ltd. Sti.（创新工程有限公司）
Mobile robots have the capability to work in real-time autonomously. Autonomous behavior is strictly dependent on knowing the position of the mobile robot. The positioning of a mobile robot in an indoor area is a difficult task for only one sensor information is used. We proposed a system and method to locate the mobile robot via fusing signals from WIFI and odometer data via particle filter. In this study, the Particle filter is a well-known filter that is used for indoor positioning of mobile robots. The proposed system includes two parts that are RFKON system and evarobot for data collectio…
Mobile robots are increasingly being deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with pedestrians. Pedestrians encounter these robots without prior understanding of the robots' behaviour, which can cause discomfort, confusion, and delayed social acceptance. In this research, we explore the common human-robot interaction at a doorway or bottleneck in a structured environment. We designed and evaluated communication cues used by a robot when yie…
Robotics simulation provides many advantages during the development of an intelligent ground vehicle (IGV) such as testing the software components in varying scenarios without requiring a complete physical robot. This paper discusses a 3D simulation environment created using rapid application development and the Unity game engine to enable testing during a mobile robotics competition. Our experience shows that the simulation environment contributed greatly to the development of software for the competition. The simulator also contributed to the hardware development of the robot.
University of Bristol（布里斯托大学）；The Hong Kong University of Science and Technology（香港科技大学）；Shandong University（山东大学）；Jilin University（吉林大学）；Shenzhen Sanhang Industrial Technology Research Institute（深圳三航工业技术研究院）
Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to perform tasks autonomously can be expensive because of the need for various types of sensors and the high price of robot platforms. Hence, in this paper we present a mobile robot localisation and navigation system which uses a LEGO ultrasonic sensor in an indoor map based on the LEGO MINDSTORM NXT. This provides an affordable and ready-to-use option for most…
GRASP Lab at Ontario Tech University（安大略理工大学GRASP实验室）
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG representation of the system is proposed and the accompanying state-space model of the dynamics of a mobile robot system is evaluated using the associated LGtheory MATLAB toolbox, which was developed in our lab. A genetic algorithm (GA)-based parameter estimation method is employed to determine the system parameters, which leads to a very accurate simulation of the model. The developed model is then evaluated and vali…
The University of Michigan - Ann Arbor（密歇根大学安娜堡分校）
In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot body and orientation under an assumption of known noise bounds on the sensor and robot motion model. We establish theoretical properties and computational approaches for this set-theoretic localization approach and illustrate its application to an automated valet parking example in simulations and to omnidirectional robot localization problems in real-world experiments. We demonstrate that the set-theoretic localizatio…
Designing a Miniature Wheel Arrangement for Mobile Robot Platforms
College of Electrical and Mechanical Engineering, National University of Sciences and Technology（国家科技大学机电工程学院）；Department of Mechanical Engineering（机械工程系）
ROS 2-Based LiDAR Perception Framework for Mobile Robots in Dynamic Production Environments, Utilizing Synthetic Data Generation, Transformation-Equivariant 3D Detection and Multi-Object Tracking
Chair of Intelligence in Quality Sensing (IQS), Laboratory for Machine Tools and Production Engineering (WZL), RWTH Aachen University（亚琛工业大学机床与生产工程实验室质量感知智能教席）；The Sirindhorn International Thai-German Graduate School of Engineering (TGGS), King Mongkut’s University of Technology North Bangkok (KMUTNB)（北曼谷先皇技术大学泰德国际工程研究生院）
The University of Hong Kong（香港大学）；Baidu Research（百度研究院）
In this paper, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including various static obstacle models. Specifically, we find that the collision conditions between robots and obstacles could be transformed into a set of polynomial inequalities, whose roots can be efficiently solved by the proposed solver. In addition, we test different types of mobile robots with various kinematic and dynamic constraints in our generalized CCD framework and validate that it allows the provable collision ch…
Technische Universität Dortmund（多特蒙德工业大学）；International Institute of Information Technology Bangalore（班加罗尔国际信息技术学院）
In this paper, the collision avoidance problem for non-holonomic robots moving at constant linear speeds in the 2-D plane is considered. The maneuvers to avoid collisions are designed using dynamic vortex potential fields (PFs) and their negative gradients; this formulation leads to a reciprocal behaviour between the robots, denoted as being cooperative. The repulsive field is selected as a function of the velocity and position of a robot relative to another and introducing vorticity in its definition guarantees the absence of local minima. Such a repulsive field is activated by a robot only w…
University of Bremen（不来梅大学）；Technical University of Munich（慕尼黑工业大学）；Fyuse Inc.（Fyuse公司）；German Aerospace Center (DLR)（德国航空航天中心（DLR））
A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. More specifically, robotic vision must provide task-relevant information about the environment and the objects in it to various planning related modules. In most implementations of the traditional Perception-Cognition-Action paradigm these tasks are treated as quasi-independent modules that function as black boxes for each other. It is our view that perception can benefit tremendously from a tight collaboration with cognition. We present RoboSherlock,…
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（华中科技大学人工智能与自动化学院）；School of Automation, SouthEast University（东南大学自动化学院）
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU arising from defective calibration directly affect the accuracy of robot positioning and pose estimation. While this issue has been addressed by the mature internal reference calibration methods available for IMUs, external reference calibration methods between the IMU and the chassis of a mobile robot are lacking. This study addresses this issue by proposing …
Zen Aerologiks；BMS College of Engineering（BMS工程学院）
The navigation system is at the heart of any mobile robot it comprises of SLAM and path planning units, which is utilized by the robot to generate a map of the environment, localize itself within it and determine an optimal a path to the destination. This paper describes the conceptualization, development, simulation and hardware implementation of GenNav a generic indoor navigation system for any mobile aerial or ground robot. The generalization is brought about by modularizing and creating independence between the software computation and hardware actuation units by providing an alternate sou…
Skolkovo Institute of Science and Technology（斯科尔科沃科学技术研究院）
MobileCharger is a novel mobile charging robot with an Inverted Delta actuator for safe and robust energy transfer between two mobile robots. The RGB-D camera-based computer vision system allows to detect the electrodes on the target mobile robot using a convolutional neural network (CNN). The embedded high-fidelity tactile sensors are applied to estimate the misalignment between the electrodes on the charger mechanism and the electrodes on the main robot using CNN based on pressure data on the contact surfaces. Thus, the developed vision-tactile perception system allows precise positioning of…
Advancements in deep learning over the years have attracted research into how deep artificial neural networks can be used in robotic systems. This research survey will present a summarization of the current research with a specific focus on the gains and obstacles for deep learning to be applied to mobile robotics.
Mobile service robots have become increasingly ubiquitous. However, these robots can pose potential accessibility issues and safety concerns to people with visual impairments (PVI). We sought to explore the challenges faced by PVI around mainstream mobile service robots and identify their needs. Seventeen PVI were interviewed about their experiences with three emerging robots: vacuum robots, delivery robots, and drones. We comprehensively investigated PVI's robot experiences by considering their different roles around robots -- direct users and bystanders. Our study highlighted participants' c…
Universitá degli studi "Mediterranea" di Reggio Calabria（雷焦卡拉布里亚“地中海”大学）
In this paper, an uncertain norm-bounded mathematical model for a remotely controlled skid-slip tracked mobile robot. The linear state space description aims to describe the nonlinear error dynamics of the robot during the trajectory tracking maneuver in the presence of a delay in the control channel, taking into account unknown but bounded slip coefficients.
Bristol Research and Innovation Laboratory, Toshiba Europe Ltd.（东芝欧洲有限公司布里斯托尔研究与创新实验室）
Mobile robots have disrupted the material handling industry which is witnessing radical changes. The requirement for enhanced automation across various industry segments often entails mobile robotic systems operating in logistics facilities with little/no infrastructure. In such environments, out-of-box low-cost robotic solutions are desirable. Wireless connectivity plays a crucial role in successful operation of such mobile robotic systems. A wireless mesh network of mobile robots is an attractive solution; however, a number of system-level challenges create unique and stringent service requi…
Hanoi University of Industry（河内工业大学）；University of Economics - Technology for Industries（经济与技术工业大学）
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents, needs to recognize the obstacles and generate new trajectories to reach the destination. This paper presents an obstacle avoidance method for mobile robots using an open-source in robot operation system (ROS) combining with the dynamic window approach (DWA) algorithm. The experiment is carried out using a mobile robot in which the navigation data is based on da…
This paper proposes a framework to measure the important metrics (throughput, delay, packet retransmits, signal strength, etc.) to determine Wi-Fi network performance of mobile robots supported by the Robot Operating Systems (ROS) middleware. We analyze the bidirectional network performance of mobile robots through an experimental setup in an indoor environment, where a mobile robot is communicating vital sensor data such as video streaming from the camera(s) and LiDAR scan values to a command station while it navigates an indoor environment through teleoperated velocity commands received from…
Institute of Automation, Chinese Academy of Science（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）
In the field of navigation and visual servo, it is common to calculate relative pose by feature points on markers, so keeping markers in camera's view is an important problem. In this paper, we propose a novel approach to calculate field-of-view (FOV) constraint of markers for camera. Our method can make the camera maintain the visibility of all feature points during the motion of mobile robot. According to the angular aperture of camera, the mobile robot can obtain the FOV constraint region where the camera cannot keep all feature points in an image. Based on the FOV constraint region, the mo…
