- 标题
- 摘要
- 关键词
- 实验方案
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New approach to enhancing the performance of cloud-based vision system of mobile robots
摘要： Mobile robots require real-time performance, high computation power, and a shared computing environment. Although cloud computing offers computation power, it may adversely affect real-time performance owing to network lag. The main objective of this study is to allow a mobile robot vision system to reliably achieve real-time constraints using cloud computing. A human cloud mobile robot architecture is proposed as well as a data flow mechanism organized on both the mobile robot and the cloud server sides. Two algorithms are proposed: (i) A real-time image clustering algorithm, applied on the mobile robot side, and (ii) A modified growing neural gas algorithm, applied on the cloud server side. The experimental results demonstrate that there is a 25% to 45% enhancement in the total response time, depending on the communication bandwidth and image resolution. Moreover, better performance in terms of data size, path planning time, and accuracy is demonstrated over other state-of-the-art techniques.
关键词： Computation offloading,Computer vision,3D point cloud,Mobile robot,Stereo vision,Real-time networking,Cloud computing,Cloud robotics
更新于2025-09-23 15:23:52
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[Advances in Intelligent Systems and Computing] Intelligent Autonomous Systems 15 Volume 867 (Proceedings of the 15th International Conference IAS-15) || Stereo Vision-Based Optimal Path Planning with Stochastic Maps for Mobile Robot Navigation
摘要： This paper addresses the problem of stereo vision-based environment mapping and optimal path planning for an autonomous mobile robot by using the methodology of getting 3D point cloud from disparity images, its transformation to 2D stochastic navigation map with occupancy grid cell values assigned from the set {obstacle, unoccupied, occupied}. We re-examined and extended this methodology with a combination of A-Star with binary heap algorithms for obstacle avoidance and indoor navigation of the Innopolis autonomous mobile robot with ZED stereo camera.
关键词： Mobile robot navigation,Occupancy grid,Disparity image,Stochastic map,Optimal path planning,Stereo vision
更新于2025-09-23 15:22:29
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Mobile Robot Path Planning Using a Laser Range Finder for Environments with Transparent Obstacles
摘要： Environment maps must ?rst be generated to drive mobile robots automatically. Path planning is performed based on the information given in an environment map. Various types of sensors, such as ultrasonic and laser sensors, are used by mobile robots to acquire data on its surrounding environment. Among these, the laser sensor, which has the property of being able to go straight and high accuracy, is used most often. However, the beams from laser sensors are refracted and re?ected when it meets a transparent obstacle, thus generating noise. Therefore, in this paper, a state-of-the-art algorithm was proposed to detect transparent obstacles by analyzing the pattern of the re?ected noise generated when a laser meets a transparent obstacle. The experiment was carried out using the environment map generated by the aforementioned method and gave results demonstrating that the robot could avoid transparent obstacles while it was moving towards the destination.
关键词： re?ection noise,path planning,mobile robot,transparent obstacle recognition,laser range ?nder
更新于2025-09-23 15:21:01
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Teleoperation system for a mobile robot arm with visual servomechanism based on turning radius determination using angle information of image
摘要： This paper considers the development of a teleoperation system for a mobile robot arm with visual servo mechanism. The robot to be operated mainly consists of a mobile robot and a robot arm with USB camera. The robot is teleoperated according to the control command which is generated by combining the manual operation with the autonomous control via the vision system based on the USB camera images. In this paper, a control method of determining the turning radius of the mobile robot is proposed based on the angle information of image corresponding to the error of a target position from the reference one. To evaluate the proposed teleoperation system, experiments of pressing a button were conducted by using an actual robot. It was verified from the experimental results that sufficiently high success rate of teleoperation could be obtained by the proposed method.
关键词： Angle-pixel characteristics,Turning radius,Teleoperation,Visual servo,Mobile robot
更新于2025-09-23 15:21:01
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[IEEE 2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) - Irkutsk, Russia (2019.8.4-2019.8.9)] 2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) - A Hierarchical Searching Approach for Laser SLAM Re-localization on Mobile Robot Platform
摘要： Simultaneous localization and mapping (SLAM) is an important issue for mobile robot system. Re-localization, as a part of close loop checking of SLAM, focuses on localize the position of a robot agent when it is restarted. Traditional localization methods couldn’t reach both a high accuracy and a little time cost. In this paper, we proposed a newly hierarchical searching approach for laser SLAM re-localization. We do hierarchically searching to match an input laser frame with the whole 2-D map, instead of comparing it with each frame in the map. By using such approach, we could accelerate re-localization speed, so the performance of SLAM is improved. Our SLAM system is well organized on a mobile robot platform. After ?eld test, our approach reaches a average precision (AP) of 90.6% on a 20m× 20m map area, and the time cost is averagely 30ms. The result shows our hierarchical searching approach is effective for re-localization problems on laser SLAM.
关键词： SLAM,laser SLAM,hierarchical searching,mobile robot,re-localization
更新于2025-09-23 15:19:57
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[IEEE 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) - Miyazaki, Japan (2018.10.7-2018.10.10)] 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) - Navigation Control Design of a Mobile Robot by Integrating Obstacle Avoidance and LiDAR SLAM
摘要： This paper presents a mobile robot navigation control system based on integration of laser SLAM localization and real-time obstacle avoidance control to provide personnel guidance for daily-life services. The LiDAR SLAM localization system is implemented in a ROS software architecture, in which Cartographer SLAM is adopted and the adaptive Monte Carlo localization is employed onboard the robot. An integrated guidance system is proposed in this paper to combine obstacle avoidance and SLAM so that the robot can move to the desired location without colliding with any unexpected obstacles. A safety-weight parameter is used to integrate goal seeking controller with the obstacle avoidance controller. The experimental results show that the robot can localize itself and navigate to the target location while avoiding obstacles on the path.
关键词： SLAM,Mobile robot,Obstacle avoidance,Guidance control
更新于2025-09-19 17:15:36
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[IEEE 2019 International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering (QR2MSE) - Zhangjiajie, China (2019.8.6-2019.8.9)] 2019 International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering (QR2MSE) - Degradation Study of 830nm Laser Diodes Based on PSpice Model and Accelerated Tests
摘要： In this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The study is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the hardware-communication configuration (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, among which the unique bearing-alignment mechanism is designed to calibrate the heading direction of the robot, the HCC is low cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is tightly incorporated with the designed HCC in an event-triggered manner. The particular contribution is the tight integration of the heuristic transportation algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.
关键词： mobile robot manipulation,manipulation,object grasping,localization,path planning,sensor fusion,transportation,navigation guidance,motion planning,Bearing-alignment mechanism,direction alignment,obstacle avoidance
更新于2025-09-19 17:13:59
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[IEEE 2019 International Electronics Symposium (IES) - Surabaya, Indonesia (2019.9.27-2019.9.28)] 2019 International Electronics Symposium (IES) - 2D Mapping and Localization using Laser Range Finder for Omnidirectional Mobile Robot
摘要： Simultaneous Localization and Mapping (SLAM) is a common technique to create the environment map and localize the robot position within the map. SLAM usually combines information from odometry and lidar sensor. However, odometry-based SLAM usually suffers accumulated errors due to wheel slipping. In this paper, we combined an omnidirectional-wheeled based floor odometry sensor and a 360o lidar sensor under Iterative Closest Point (ICP) SLAM platform. Our proposed technique can consistently reduce the errors caused by wheel slipping and refine the map.
关键词： omnidirectional mobile robot,lidar,SLAM,ICP,odometry
更新于2025-09-16 10:30:52
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Human Target Tracking using a 3D Laser Range Finder based on SJPDAF by Filtering the Laser Scanned Point Clouds
摘要： Various researches on mobile robot have been conducted and this has led to target tracking being a part of the mainstream based on mobile robot. Target tracking is the process of target recognition and data association. Target recognition is to make the feature data from a target, and it is coming from the analysis of the target data. Raw data from sensors make the target data and it could be the ?rst recognition step for the target. Data association is about the way to track the target. It is the continuous comparison and association between previous and present target data with time. In this paper, we focus on improving target recognition performance by ?ltering data received from laser sensors. The key idea to the ?ltering process is extracting data consisting of hips from three-dimensional data. This process provides a clearer standard of distinction between people. The tracking people algorithm is based on SJPDAF to manage the occlusion situation. Experimental results from our study show that the new proposed tracking method is robust in practical environments.
关键词： sample-based joint probabilistic data association ?lter(SJPDAF),target tracking,Laser range ?nder,mobile robot
更新于2025-09-16 10:30:52
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Using Laser Range Finder Obstacle Avoidance and Using TLD Positioning System of Mobile Robot
摘要： Robot self-localization and obstacle avoidance has been one of the important topics in robotics. The sensing system which is more mature and using a laser range finder (LRF). But the biggest drawback is the LRF detection range is a plane, And for some high reflectivity of the object, will produce incorrect reflection data. So when the obstacle is not the detection range, or due to high reflectance data will generate an error and the positioning of the robot obstacle avoidance function error. This paper is the use of TLD (Tracking-Learning-Detection) image recognition system, to assist LRF do positioning and obstacle avoidance. And this imaging system can also be used while the robot with object tracking functions
关键词： positioning system,mobile robot,TLD,obstacle avoidance,Laser Ranger Finder
更新于2025-09-11 14:15:04