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sensor-based navigation of Omnidirectional Wheeled Robots Dealing with both Collisions and Occlusions

ROBOTICA 2020年第4期38卷 617-638页

作者： Khelloufi, Abdellah Achour, Nouara Passama, Robin Cherubini, Andrea Ctr Dev Adv Technol CDTA 20 Aout 1956 City Baba Hassen Algiers Algeria USTHB Fac Elect & Comp Sci BP32 EL ALIA Bab Ezzouar Algiers 16111 Algeria Univ Montpellier CNRS LIRMM Montpellier France

navigation tasks are often subject to several constraints that can be related to the sensors (visibility) or come from the environment (obstacles). In this paper, we propose a framework for autonomous omnidirectional wheeled robots that takes into account both collision and occlusion risk, during sensor-based navigation. The task consists in driving the robot towards a visual target in the presence of static and moving obstacles. The target is acquired by fixed - limited field of view - on-board cameras, while the surrounding obstacles are detected by lidar scanners. To perform the task, the robot has not only to keep the target in view while avoiding the obstacles, but also to predict its location in the case of occlusion. The effectiveness of our approach is validated through several experiments.

关键词： sensor-based navigation Omnidirectional wheeled robots Obstacle avoidance Visibility constraints Occlusions

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Robust sensor-based navigation for Mobile Robots

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2009年第3期58卷 551-556页

作者： Ashokaraj, Immanuel A. R. Silson, Peter M. G. Tsourdos, Antonios White, Brian A. QinetiQ Farnborough GU14 0LX Hants England Def Coll Management & Technol Autonomous Syst Grp Swindon SN6 8LA Wilts England

This paper describes a deterministic approach for sensor-based localization and navigation of a mobile robot equipped with ultrasonic sensors using interval analysis. For localization, the map is 2-D and assumed to be known. It is shown that robot localization is achieved without the need for an interval model of the robot;instead, the physical limitations of the robot are used to predict and track the robot's position. In classical methods of robot localization such as Kalman filters, the data-association step is extremely complex and usually based on linearization. The interval analysis method proposed in this paper bypasses the data-association step and directly deals with the nonlinear problem in a global way.

关键词： Interval analysis robot localization sensor-based navigation sensor fusion

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Servo-level, sensor-based navigation Using Harmonic Potential Fields

Servo-level, Sensor-based Navigation Using Harmonic Potentia...

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European Control Conference (ECC)

作者： Masoud, Ahmad A. Ahmed, Mohanad Al-Shaikhi, Ali King Fahad Univ Petr & Minerals Dept Elect Engn Dhahran 31261 Saudi Arabia

ISBN: (纸本)9783952426937

This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.

关键词： mobile robots navigation servomechanisms dedicated exploration harmonic potential field integrated navigation control system map-building stage mobile agent necessary and sufficient sensory data sensor-based navigation servo-level time critical mission Harmonic analysis Mobile robots navigation Robot kinematics Robot sensing systems

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Fuzzy sensor-based navigation with Neural Tracking Control of the Wheeled Mobile Robot

Fuzzy Sensor-Based Navigation with Neural Tracking Control o...

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13th International Conference on Artificial Intelligence and Soft Computing (ICAISC)

作者： Szuster, Marcin Hendzel, Zenon Burghardt, Andrzej Rzeszow Univ Technol Dept Appl Mech & Robot PL-35959 Rzeszow Poland

ISBN: (纸本)9783319071756;9783319071763

navigation of the wheeled mobile robot in the unknown environment with simultaneous realisation of the generated trajectory, is one of the most challenging and up to date problems in the modern mobile robotics. In the article a new approach is presented to a collision-free trajectory generating for a wheeled mobile robot, realised in a form of the hierarchical control system with two layers. The first layer is a tracking control system, where the Neuro-Dynamic Programming algorithm in the Dual Heuristic Dynamic Programming configuration was applied. The second layer is a trajectory generator where the Fuzzy Logic systems were used. The presented control system generates and realises trajectory of the wheeled mobile robot within the complex task of goal-seeking and obstacle avoiding. The proposed hierarchical control system works on-line, its performance was verified using the wheeled mobile robot Pioneer 2-DX.

关键词： Neuro-Dynamic Programming Fuzzy System Mobile Robot Neural Networks Path Planning sensor-based navigation

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Comparative Study of Potential-based and sensor-based Surgical navigation in Several Liver Environments

Comparative Study of Potential-Based and Sensor-Based Surgic...

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23rd International Conference on Human-Computer Interaction (HCII)

作者： Kunii, Takahiro Asano, Miho Fujita, Kanako Tachibana, Katsunori Noborio, Hiroshi Kashina Syst Co Hikone Japan Kyoto Univ Hosp Preempt Med & Lifestyle Related Dis Res Ctr Kyoto Japan Osaka Electrocommun Univ Dept Comp Sci Shijonawate Japan Osaka Electrocommun Univ Dept Biomed Engn Shijonawate Japan

ISBN: (纸本)9783030784652;9783030784645

Medical navigators have gained recent attention for application in surgery to provide the surgeon with the position and orientation of malignant tumors as accurately as possible. Currently, extensive research is being conducted on producing surgical navigators;however, their practical application is difficult in the case of organ deformation. This study presents a medical navigation system using two types of algorithms to select a pathway from the scalpel tip near a malignant tumor in a 3D liver environment, which avoids blood vessels (arteries, veins, and portal veins) and the malignant tumor when they are regionally segmented inside the liver. The first algorithm involves potential-based navigation, in which the scalpel tip reaches its destination by adjusting the attraction to the destination (currently the malignant tumor) and the repulsion from the blood vessels. The second algorithm involves sensor-based navigation where the surgeon moves the scalpel in a straight line in the direction of the malignant tumor. When a blood vessel is encountered, the scalpel is moved in a clockwise or counterclockwise direction in a certain plane over a certain distance to avoid the blood vessel. It is then moved in a straight line in the direction of the malignant tumor again after approaching the malignant tumor monotonically or asymptotically. In this study, both navigation algorithms select a path near the malignant tumor in the 3D liver environments with diverse shapes and arrangements of blood vessels and malignant tumors. The potential-based navigation algorithm then selects a shorter straight path near the malignancy, but the direction of the incision varies in a complex manner. Lastly, the sensor-based navigation algorithm selects a longer circuitous path near the malignancy, but the incision direction is uniform.

关键词： Potential-based navigation sensor-based navigation Surgical navigation Collision-free and deadlock-free path Path length and shape

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sensor-based Mobile Robot navigation via Deep Reinforcement Learning

Sensor-based Mobile Robot Navigation via Deep Reinforcement ...

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IEEE International Conference on Big Data and Smart Computing (BigComp)

作者： Han, Seungho-Ho Choi, Ho-Jin Benz, Philipp Loaiciga, Jorge Korea Adv Inst Sci & Technol Sch Comp Daejoen South Korea Korea Adv Inst Sci & Technol Sch Elect Engn Daejoen South Korea

ISBN: (纸本)9781538636497

navigation tasks for mobile robots have been widely studied over past several years. More recently, there have been many attempts to introduce the usage of machine learning algorithms. Deep learning techniques are of special importance because they have achieved excellent performance in various fields, including robot navigation. Deep learning methods, however, require considerable amount of data for training deep learning models and their results may be difficult to interpret for researchers. To address this issue, we propose a novel model for mobile robot navigation using deep reinforcement learning. In our navigation tasks, no information about the environment is given to the robot beforehand. Additionally, the positions of obstacles and goal change in every episode. In order to succeed under these conditions, we combine several Q-learning techniques that are considered to be state-of-the-art. We first provide a description of our model and then verify it through a series of experiments.

关键词： mobile robot navigation deep reinforcement learning Q-learning sensor-based navigation

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sensor-based control with digital maps association for global navigation: a real application for autonomous vehicles 18

Sensor-based control with digital maps association for globa...

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18th IEEE International Conference on Intelligent Transportation Systems

作者： de Lima, Danilo Alves Victorino, Alessandro Correa Univ Technol Compiegne Heudiasyc UMR CNRS 7253 Compiegne France

ISBN: (纸本)9781467365963

This paper presents a sensor-based control strategy applied in the global navigation of autonomous vehicles in urban environments. Typically, sensor-based control performs local navigation tasks regarding some features perceived from the environment. However, when there is more than one possibility to go, like in road intersection, the vehicle control fails to accomplish its global navigation. In order to solve this problem, we propose the vehicle global navigation based on a topological representation of the environment using only digital maps and low cost sensors. The approach was developed for two main tasks: road following and road intersection maneuvers. The final solution was completely implemented in a real autonomous car and tested in a challenge circuit, showing the viability of our solution.

关键词： sensor-based navigation Global navigation management Digital maps

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Deadlock-Free and Collision-Free Liver Surgical navigation by Switching Potential-based and sensor-based Functions 1

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Human-Computer Interaction Thematic Area Conference (HCI) Held as Part of the 22nd International Conference on Human-Computer Interaction (HCII)

作者： Noborio, Hiroshi Kawai, Kiyomi Watanabe, Kaoru Tachibana, Katsunori Kunii, Takahiro Mizushino, Kiminori Osaka Electrocommun Univ Dept Comp Sci Kiyotaki 1130-70 Shijyo Nawate Osaka 5720063 Japan Osaka Electrocommun Univ Dept Biomed Engn Kiyotaki 1130-70 Shijyo Nawate Osaka 5720063 Japan Kashina Syst Co Hirata Cho 116-22 Hikone Shiga 5220041 Japan Embedded Wings Co Ine 5-2-3 Mino Osaka 5620015 Japan

ISBN: (数字)9783030490652

ISBN: (纸本)9783030490645;9783030490652

In this study, we developed a deadlock-free and collision-free liver surgical navigation method by switching potential-based and sensor-based approaches. The potential-based approach selects a near-optimal route from a scalpel tip to an arbitrary neighbor position around a tumor in a 3D organ map converted from digital imaging and communications in medicine (DICOM) data captured by magnetic resonance imaging or computed tomography. However, among complex-shaped blood vessels, the approach sometimes loses the route. To overcome this drawback, we switch to the sensor-based approach. This approach always finds a route near a tumor. However, the path becomes longer. Therefore, when the potential-based approach recovers to find another path, we switch the sensor-based approach back to the potential-based approach. The usefulness of this switching method was carefully ascertained in several kinds of allocations of tumor and blood vessels.

关键词： Potential-based navigation sensor-based navigation Triangular polyhedron stereolithography Liver surgery navigator Deadlock-free property Local minima

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sensor-based control with digital maps association for global navigation: a real application for autonomous vehicles

Sensor-based control with digital maps association for globa...

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International IEEE Conference on Intelligent Transportation Systems

作者： Danilo Alves de Lima Alessandro Corrêa Victorino Heudiasyc UMR CNRS 7253 Université de Technologie de Compiègne. Danilo Alves Lima holds a Ph.D scholarship from Picardie region

ISBN: (纸本)9781467365970

This paper presents a sensor-based control strat-egy applied in the global navigation of autonomous vehicles in urban environments. Typically, sensor-based control performs local navigation tasks regarding some features perceived from the environment. However, when there is more than one possibility to go, like in road intersection, the vehicle control fails to accomplish its global navigation. In order to solve this problem, we propose the vehicle global navigation based on a topological representation of the environment using only digital maps and low cost sensors. The approach was developed for two main tasks: road following and road intersection maneuvers. The final solution was completely implemented in a real autonomous car and tested in a challenge circuit, showing the viability of our solution.

关键词： sensor-based navigation Global navigation management Digital maps

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Combining the SLAM back and front ends with a joint vector-set distribution

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INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2025年

作者： Inostroza, Felipe Adams, Martin Univ Chile Adv Min Technol Ctr AMTC Av Tupper 2007 Santiago 8370451 Chile Univ Chile Dept Elect Engn Av Tupper 2007 Santiago 8370451 Chile

The joint optimization of map management and map feature to measurement association, together with the trajectory and map states, within a single, unified, Bayesian, feature-based, simultaneous localization and mapping (SLAM) solution is addressed in this article. Remarkable progress in feature-based SLAM has been made in which, given data association, the SLAM problem can be solved by use of nonlinear least squares solvers, often referred to as the SLAM back-end. These methods rely on external methods to solve both the data association and map management problems, which are collectively incorporated into the SLAM front-end. SLAM convergence failures are common when these front-end routines fail, particularly when feature detection uncertainty increases. Therefore, this article introduces Joint, Vector-Set SLAM (JVS-SLAM), utilizing Bayes theorem to solve feature to measurement association, map management, and SLAM itself jointly, thus combining the SLAM back and front ends. Results will demonstrate equivalent or superior SLAM performance to state-of-the-art solutions, under varying odometry, spatial and detection measurement uncertainties, without reliance on data association decisions. Results are based on both simulations and the challenging EuRoC data set, in which a drone undergoing high accelerations, equipped with a stereo camera, performs SLAM. Since JVS-SLAM jointly provides a solution to the map feature to measurement association problem, its computational complexity is comparable with multi-hypothesis based solutions. Parallels between state-of-the-art map management and feature to measurement association methods and the detection statistics used within JVS-SLAM will be examined, with a view to reducing its complexity in the future.

关键词： Localization and mapping probability and statistical methods theoretical foundations sensor-based navigation vision and sensor-based control

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