A Robust Navigation Method for Mobile Robots in Real-World Environments

被引：6

作者：

Rahok, Sam Ann ^{[1
]}

Oneda, Hirohisa ^{[2
]}

Tanaka, Akio ^{[1
]}

Ozaki, Koichi ^{[3
]}

机构：

[1] Oyama Natl Coll Technol, Dept Innovat Elect & Elect Engn, 771 Nakakuki, Oyama, Tochigi 3230806, Japan

[2] Yuge Natl Coll Maritime Technol, Dept Elect Mech Engn, Kamijima, Ehime 7942593, Japan

[3] Utsunomiya Univ, Dept Mech Syst Engn, Utsunomiya, Tochigi 3218585, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2014年 / 26卷 / 02期

关键词：

mobile robot; navigation; magnetic field;

D O I：

10.20965/jrm.2014.p0177

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes a robust navigation method for real-world environments. The method uses a 3-axis magnetic sensor and a laser range scanner. The magnetic field that occurs in the environment is used as key landmarks in the proposed navigation method, and physical landmarks scanned by the laser range scanner are taken into account in compensating for the mobile robot's lateral error. An evaluation experiment was conducted during the final run of the Real World Robot Challenge (RWRC) 2013, and the result showed that the mobile robot equipped with the proposed method robustly navigated a 1.6 km course.

引用

页码：177 / 184

页数：8

共 50 条

[41] Robust pose estimation for mobile robots in unpredictable environments
Pavlin, G
Braunstingl, R
MOBILE ROBOT TECHNOLOGY, PROCEEDINGS, 2001, : 125 - 131
[42] Socially Reactive Navigation Models for Mobile Robots in Dynamic Environments
Ribeiro, Ricarte de Sousa
Moreno, Plinio
ROBOT 2023: SIXTH IBERIAN ROBOTICS CONFERENCE ADVANCES IN ROBOTICS, VOL 1, 2024, 976 : 222 - 234
[43] Navigation of mobile robots in unknown environments using ultrasound sonar
De Lima Ottoni, Guilherme
Fetter Lages, Walter
Controle y Automacao, 2003, 14 (04): : 402 - 411
[44] Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments
Dakulovic, Marija
Sprunk, Christoph
Spinello, Luciano
Petrovic, Ivan
Burgard, Wolfram
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 2644 - 2649
[45] Switching control of mobile robots for autonomous navigation in unknown environments
Toibero, J. A.
Carelli, R.
Kuchen, B.
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 1974 - +
[46] Autonomous Navigation for Mobile Service Robots in Urban Pedestrian Environments
Trulls, E.
Corominas Murtra, A.
Perez-Ibarz, J.
Ferrer, G.
Vasquez, D.
Mirats-Tur, Josep M.
Sanfeliu, A.
JOURNAL OF FIELD ROBOTICS, 2011, 28 (03) : 329 - 354
[47] Robust world-modelling and navigation in a real world
Zimmer, UR
NEUROCOMPUTING, 1996, 13 (2-4) : 247 - 260
[48] Building Trust in Assistive Robotics: Insights From a Real-World Mobile Navigation Experiment
Lingg, Nico
Demiris, Yiannis
FIRST INTERNATIONAL SYMPOSIUM ON TRUSTWORTHY AUTONOMOUS SYSTEMS, TAS 2023, 2022,
[49] M2S maps: Supporting real-world navigation with mobile VR
Zhang X.
Virtual Reality, 2007, 11 (2-3) : 161 - 173
[50] Real-Time Self-Localization and Mapping for Autonomous Navigation of Mobile Robots in Unknown Environments
Tolenov, Serik
Joldasbekov, Batyrkhan Omarov
INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS, 2024, 15 (10) : 882 - 893

← 1 2 3 4 5 →