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The Feasibility of navigation algorithms on Smartphones using J2ME

MOBILE NETWORKS & APPLICATIONS 2010年第6期15卷 819-830页

作者： Santos, Andre C. Tarrataca, Luis Cardoso, Joao M. P. Univ Tecn Lisboa IST P-2780990 Porto Salvo Portugal Univ Porto Fac Engn Dept Informat Engn P-4200465 Oporto Portugal

Embedded systems are considered one of the areas with more potential for future innovations. Two embedded fields that will most certainly take a primary role in future innovations are mobile robotics and mobile computing. Mobile robots and smartphones are growing in number and functionalities, becoming a presence in our daily life. In this paper, we study the current feasibility of a smartphone to execute navigation algorithms and provide autonomous control, e.g., for a mobile robot. We tested four navigation problems: Mapping, Localization, Simultaneous Localization and Mapping, and Path Planning. We selected representative algorithms for the navigation problems, developed them in J2ME, and performed tests on the field. Results show the current mobile Java capacity for executing computationally demanding algorithms and reveal the real possibility of using smartphones for autonomous navigation.

关键词： navigation algorithms visual landmark recognition particle filter extended kalman filter potential fields smartphones J2ME

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Exploration of robust and intelligent navigation algorithms to ensure off-road autonomous vehicle mobility

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INTERNATIONAL JOURNAL OF VEHICLE PERFORMANCE 2024年第3期10卷 239-267页

作者： Cole, Michael Kulkarni, Kumar B. Ewing, Jordan Tau, Seth Goodin, Chris Jayakumar, Paramsothy US Army DEVCOM Ground Vehicle Syst Ctr 6501 E 11 Mile Rd Warren MI 48397 USA Michigan Technol Univ 1400 Townsend Dr Houghton MI 49931 USA Mississippi State Univ Ctr Adv Vehicular Syst 10 Lee Blvd Mississippi State MS 39762 USA

The combat capabilities development command (DEVCOM) ground vehicle systems centre (GVSC) is supporting unmanned ground vehicle (UGV) development. Past experimentations of a military UGV demonstrated that its autonomous mode performed worse than the tele-operated mode. To address this, a systematic investigation into path planners for military vehicles in off-road environments was executed. A UGV simulator was used to evaluate vehicle and planner performance through a range of obstacle avoidance scenarios in deformable soil to capture the effects of vehicle-terrain interactions across multiple soil types. Monte Carlo methods were used to evaluate the robustness of five path planners ranging from classical to state-of-the-art planners, with normally-distributed variability in environmental and vehicle initial conditions. After running thousands of simulations, results show how each algorithm compares to one another in several key metrics including overall success rates. These results will help inform decisions in future military UGV path planner selection.

关键词： navigation algorithms vehicle mobility autonomous vehicles unmanned ground vehicles UGV path planning vehicle-terrain interactions VTI

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An Analysis of navigation algorithms for Smartphones Using J2ME

An Analysis of Navigation Algorithms for Smartphones Using J...

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2nd International Mobilware Conference

作者： Santos, Andre C. Tarrataca, Luis Cardoso, Joao M. P. Univ Tecn Lisboa IST Ave Prof Dr Cavaco Silva P-2780990 Porto Salvo Portugal Univ Porto Fac Engn Dept Informat Engn P-4200465 Porto Portugal INESC ID P-2780990 Porto Salvo Portugal

ISBN: (纸本)9783642018015

Embedded systems are considered one of the most potential areas for future innovations. Two embedded fields that will most certainly take a primary role in future innovations are mobile robotics and mobile computing. Mobile robots and srnartphones are growing in number and functionalities. becoming a presence in our daily life. In this paper, we study the current feasibility of a smartphone to execute navigation algorithms. As a test case, we use a smartphone to control an autonomous mobile robot. We tested three navigation problems: Mapping, Localization and Path Planning. For each of these problems, an algorithm has been chosen, developed in J2ME, and tested on the field. Results show the current mobile Java capacity for executing computationally demanding algorithms and reveal the real possibility of using smartphones for autonomous navigation.

关键词： Embedded computing navigation algorithms visual landmark recognition particle filter potential fields mobile robotics smartphones J2ME

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The Framework for Robotic navigation algorithms Evaluation

The Framework for Robotic Navigation Algorithms Evaluation

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IEEE Russia Section Young Researchers in Electrical and Electronic Engineering Conference (EIConRus)

作者： Gridnev, Alexander A. Dyumin, Alexander A. Voznenko, Timofei I. Urvanov, Gleb A. Chepin, Eugene V. Natl Res Nucl Univ MEPhI Moscow Engn Phys Inst Inst Cyber Intelligence Syst Moscow Russia

ISBN: (纸本)9781509048656

algorithms for navigation, localization and mapping are core software for almost all mobile robotic systems. There are variety of such algorithms that use different approaches and utilize different robotic equipment. To select a suitable algorithm that fulfill the constraints on equipment, computational complexity, and performance quality we need a framework that allows to perform a large number of tests and simulations in different conditions. In this paper, we evaluate approaches to the creation of such framework, describe initial release of the framework and provide some results on navigation algorithms evaluation with it.

关键词： simulation framework testing framework navigation algorithms localization and mapping algorithms mobile robotics

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The Framework for Robotic navigation algorithms Evaluation

The Framework for Robotic Navigation Algorithms Evaluation

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Conference of Russian Young Researchers in Electrical and Electronic Engineering

作者： Alexander A. Gridnev Alexander A. Dyumin Timofei I. Voznenko Gleb A. Urvanov Eugene V. Chepin Institute of Cyber Intelligence Systems National Research Nuclear University MEPhI (Moscow Engineering Physics Institute) Moscow Russia

ISBN: (纸本)9781509048663

关键词： simulation framework testing framework navigation algorithms localization and mapping algorithms mobile robotics

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Variable Trust Control Setting for Autonomous Vehicle Highway navigation and Improved User Experience

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SN Computer Science 2025年第3期6卷 1-14页

作者： Pickering, James E. Kim, Jisun D’Souza, Joshua Burnham, Keith J. Aston University Birmingham B4 7ET United Kingdom

This paper addresses the development of a model-based design approach to enhance the acceptance of safe manoeuvrability of autonomous vehicles (AVs) on highways. A variable trust control setting (TCS) is introduced that empowers users to 'feel in control' of the AV, potentially increasing confidence in, and acceptance of, the technology. This setting is grounded in deontological ethics and utilises virtual boundaries (VBs) to guide driving decisions, i.e., the distance between two AVs interacting with one another. The approach is simulated using a dynamic bicycle model that represents each AV, controlled through an adaptive model-predictive control (MPC) algorithm. The paper outlines the MPC approach, the dynamic bicycle model, and the associated velocity control algorithm. Metrics are introduced to quantify safety of specific AV manoeuvres during interactions with other AVs, enabling the examination of various scenarios. A novel simulation package has been developed to investigate the impact of the proposed variable TCS, focusing on how VBs and steering limitations influence the safety and comfort of AVs during overtaking manoeuvres. The findings demonstrate the effectiveness of this approach, showing that it could potentially allow users to actively manage the safety and comfort aspects of AV operation. © The Author(s) 2025.

关键词： Autonomous vehicles (AVs) Control engineering Model-predictive control (MPC) navigation algorithms Variable trust control setting (TCS) Vehicle safety

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Local navigation strategies for a team of robots

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ROBOTICA 2003年第5期21卷 461-473页

作者： Sgorbissa, A Arkin, RC Univ Genoa DIST Genoa Italy

Whenever a mobile robot has to deal with an environment that is totally or partially unknown or dynamically changing, local navigation strategies are very important for the robot to successfully achieve its goals. Unfortunately, local navigation algorithms that have been proposed in the literature offer poor performance (or even fail) whenever the geometry of the free space in which the robot is requested to operate increases its complexity. In this paper, we deal with a team composed of many robots, and we show how robots navigating within an unknown environment with local communication capabilities (only line-of-sight communication is allowed) can cooperate by helping each other to achieve their own goals.

关键词： navigation algorithms multi-robot exploration multi-robot cooperation

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Development of a navigation algorithm for autonomous underwater vehicles

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IFAC-PapersOnLine 2015年第2期28卷 64-69页

作者： Allotta, B. Caiti, A. Chisci, L. Costanzi, R. Di Corato, F. Fantacci, C. Fenucci, D. Meli, E. Ridolfi, A. Department of Industrial Engineering Florence University Florence50139 Italy Centro Piaggio Pisa University Pisa50122 Italy Department of Information Engineering Florence University Florence50139 Italy

In this paper, the authors present an underwater navigation system for Autonomous Underwater Vehicles (AUVs) which exploits measurements from an Inertial Measurement Unit (IMU), a Pressure Sensor (PS) for depth and the Global Positioning System (GPS, used during periodic and dedicated resurfacings) and relies on either the Extended Kalman Filter (EKF) or the Unscented Kalman Filter (UKF) for the state estimation. Both (EKF and UKF) navigation algorithms have been validated through experimental navigation data related to some sea tests performed in La Spezia (Italy) with one of Typhoon class vehicles during the NATO CommsNetl3 experiment (held in September 2013) and through Ultra-Short BaseLine (USBL) fixes used as a reference (ground truth). Typhoon is an AUV designed by the Department of Industrial Engineering of the Florence University for exploration and surveillance of underwater archaeological sites in the framework of the Italian THESAURUS project and the European ARROWS project. The obtained results have demonstrated the effectiveness of both navigation algorithms and the superiority of the UKF (very suitable for AUV navigation and, up to now, still not used much in this field) without increasing the computational load (affordable for on-line on-board AUV implementation). © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Autonomous underwater vehicles Bearings (machine parts) Extended Kalman filters Global positioning system Hurricanes navigation Archaeological site Autonomous underwater vehicles (AUV) Autonomous underwater vehicles (AUVs) Inertial Measurement Unit (IMU) navigation algorithms Ultra short baselines Underwater navigation system Unscented Kalman Filter

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Vision-Based UAV navigation in Orchards

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IFAC-PapersOnLine 2016年第16期49卷 10-15页

作者： Stefas, Nikolaos Bayram, Haluk Isler, Volkan University of Minnesota MinneapolisMN55455 United States

Unmanned Aerial Vehicles (UAV) are becoming increasingly common in agricultural applications. Currently, they are primarily used to fly over fields in open space. navigation inside orchard-like environments remains challenging. We study the problem of orchard navigation with cameras on an aerial vehicle. We study both the controller and the vision component. For the vision component, we provide two methods for detecting orchard rows with frontal facing cameras. In the monocular case, we present a pipeline to extract the geometry of tree rows when there is a well defined path structure. In the binocular case, we present a depth-based navigation algorithm to extract the rows. For the controller component, we design a controller that uses both frontal and downward facing cameras and provides reliable performance even on the presence of strong wind disturbances. © 2016

关键词： Visual servoing Air navigation Antennas Cameras Controllers Facings navigation Orchards Robots Unmanned aerial vehicles (UAV) Aerial vehicle Agricultural robotics navigation algorithms Reliable performance Strong winds Vision based Vision based navigation Vision components

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Experimental validation of magnetic navigation of marine robotic vehicles

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IFAC-PapersOnLine 2016年第23期49卷 273-278页

作者： Teixeira, Francisco Curado Quintas, João Pascoal, António Institute for Systems and Robotics Instituto Superior Técnico Univ. Lisboa Av. Rovisco Pais 1 Lisbon1049-001 Portugal

This paper describes the work developed towards the implementation of magnetic navigation (MAGNAV) methods for small, affordable underwater robotic vehicles. MAGNAV constitutes a particular implementation of a broader class of methods designated as geophysical navigation, which encompasses the already classical terrain-aided, or terrain-referenced, navigation approach. Relying on prior work by the authors, the paper proposes a particle filter navigation algorithm which may be combined with other position estimation methods to increase the robustness of the estimation process. The results of a series of tests performed in the water with a marine robotic vehicle in order to assess the impact of different sensor-vehicle configurations on the quality of the magnetic data used in MAGNAV are reported. The magnetic navigation solution proposed is validated in simulated trials using real magnetic and navigation data acquired with an autonomous marine vehicle in real trials using standard navigation sensors and an affordable total field magnetometer. The results obtained illustrate the high potential of the approach for geophysical navigation of autonomous underwater vehicles. © 2016

关键词： Marine navigation Air navigation Autonomous underwater vehicles Geophysics Magnetic levitation vehicles Magnetism Monte Carlo methods Robotics Autonomous marine vehicles Experimental validations Magnetic navigation navigation algorithms Of autonomous underwater vehicles Particle filter Underwater robotic vehicle Vehicle configuration

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