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Autonomous mobile robot global self-localization using Kohonen and region-feature neural networks

JOURNAL OF ROBOTIC systems 1997年第4期14卷 263-282页

作者： Janet, JA Gutierrez, R Chase, TA White, MW Sutton, JC Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC 27695-7911 Email: Jason A. Janét (jajanet@eos.ncsu.edu)[*]Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC 27695-7911

This article presents and compares two neural network-based approaches to global self-localization (GSL) for autonomous mobile robots using: (1) a Kohonen neural network;and (2) a region-feature neural network (RFNN). Both approaches categorize discrete regions of space (topographical nodes) in a manner similar to optical character recognition (OCR). That is, the mapped sonar data assumes the form of a character unique to that region. Hence, it is believed that an autonomous vehicle can determine which room it is in from sensory data gathered from exploration. With a robust exploration routine, the GSL solution can be time-, translation-, and rotation-invariant. The GSL solution can also become independent of the mobile robot used to collect the sensor data. This suggests that a single robot can transfer its knowledge of various learned regions to other mobile robots. The classification rate of both approaches are comparable and, thus, worthy of presentation. The observed pros and cons of both approaches are also discussed. (C) 1997 John Wiley & Sons, Inc.

关键词： Mobile robots

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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Three-dimensional scene analysis using multiple range finders — Data capture, coordinate transformations and initial segmentation 10th

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10th Australian Joint Conference on Artificial Intelligence, AI 1997

作者： Hofman, Irving Jarvis, Ray Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash Univeristy ClaytonVIC3168 Australia

ISBN: (纸本)3540637974

A system for acquiring a complete three-dimensional surface description of a complex scene using multiple rangefinders is described. These scenes may contain multiple free-form objects with both convex and concave surface elements. A unique approach for registering each of the views is also proposed. A diamond shaped model with known geometric properties is used to register each of the six views. Range data acquired from each of the views is transformed to match the model using affine transforms that are calculated using a least squares minimisation approach. Once the transformation is known, it can be used for all successive range data acquisition. This method is accurate, requires very little computation time, and is invariant to initial conditions. An efficient method for calculating surface normals at each data point is also described. It makes use of the rectangular grid of points in the image from which each three-dimensional data set is extracted. Low level processing of the registered data using the shared nearest neighbour clustering technique is also described. This provides a very rich set of semantic free partitions upon which to base higher level processing. This will ultimately lead to complete scene descriptions, including object identity, pose and juxtaposition, suitable for supporting intelligent robotic manipulation. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Data acquisition

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A nephelometric tactile sensor 10th

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10th Australian Joint Conference on Artificial Intelligence, AI 1997

作者： Russell, R. Andrew Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)3540637974

This paper describes the design and construction of a novel robot tactile sensor array. The sensory principle employed is the measurement of diffuse reflected light emanating from a turbid liquid when the liquid is illuminated by a collimated light source. External objects pressed against the sensor vary the thickness of a layer of turbid liquid. Light entering this liquid is back-scattered in proportion to the liquid thickness. If the light passes through more liquid then more light is backscattered. Operation of the sensor does not rely on light being reflected by the outer flexible membrane which contains the liquid. This is seen as an advantage of this sensor design. Being optical the transduction mechanism is immune to electric and magnetic interference. Compliance of the sensor surface would accommodate a degree of inaccuracy in positioning, aid stable grasping and resist damage in robotic applications. Results obtained using a prototype version of the sensor are also presented. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Liquids

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Robust motion segmentation using rank ordering estimators 3rd

Robust motion segmentation using rank ordering estimators

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3rd Asian Conference on computer Vision, ACCV 1998

作者： Bab-Hadiashar, Alireza Suter, David Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)3540639314

Robust estimators have become popular tools for solving a wide range of problems in computer vision. Despite many successes in this field, there is still a need for estimators, which are suited to specific problems such as recovering structures from multi-structural data. This paper offers an alternative approach to, and some practical insights into, the implementation of well-known rank ordering based robust estimators. The approach has been tested on synthetic and real image data for motion segmentation purposes. © 1997, Springer Verlag. All rights reserved.

关键词： Image segmentation

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Robust total least squares based optic flow computation 3rd

Robust total least squares based optic flow computation

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3rd Asian Conference on computer Vision, ACCV 1998

作者： Bab-Hadiashar, Alireza Suter, David Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)3540639306

This paper considers the problem of finding a robust solution to the optic flow problem. The optical flow field is recovered by solving a system of over-determined linear equations with all the data matrices containing both outliers and noise. Here, we present a novel and very effective solution for this problem called weighted total least squares. The weights for this method are computed using a new robust statistical method named least median of squares orthogonal distances. Unlike the total least squares which is only robust to noise, this method is extremely robust to both noise and outliers and can tolerate up to 50% of equations in the system to be contaminated by outliers. The proposed weighting method is fast and the total computation remains inexpensive. To demonstrate the performance of the proposed algorithm, we compare the accuracy of our algorithm for computing optic flow field for a number of synthetic and real image sequences and show that the proposed method, despite being very simple and straightforward, out performs all methods used for comparison. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Flow fields

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Creating adroit mechanisms by using large numbers of simple homogeneous structures 10th

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10th Australian Joint Conference on Artificial Intelligence, AI 1997

作者： Russell, R. Andrew Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)3540637974

The project described in this paper investigates the idea that, in some circumstances, the functions of a complex mechanism can be performed by a large number of simpler units. There are example in nature that support this approach. In the case of locomotion this is seen in the starfish that walks on a large number of tube feet. The structure and control of starfish feet are both simpler than would be the case if the starfish had a small number of more complex legs. There are similar examples in the case of manipulation. Cilia, which line the bronchial passages, work together to transport foreign particles out of the lungs. Individual cilia are simple and their great numbers provide reliability through redundancy. In this paper the idea of creating a versatile system from many elementary units is developed in the context of a multi fingered gripper. The prototype gripper has eight simple, one degree-of-freedom fingers. It is found that this gripper provides excellent grasp stability for a wide range of object shapes and is able to translate, rotate and measure the surface profile of gripped objects. This paper outlines the gripper design together with algorithms for performing grasping, repositioning and object recognition. Experimental results are also presented which illustrate the performance of the gripper. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Grippers

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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Conference on Sensor Fusion and Decentralized Control in Autonomous Robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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Sonar based map building for a mobile robot

Sonar based map building for a mobile robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kok Seng Chong L. Kleeman Intelligent Robotics Research Centre (IRRC) Department of Electrical and Computer Systems Engineering Monash University VIC Australia

This paper describes a mobile robot equipped with a sonar sensor array, Werrimbi, in a guided feature based map building task in an indoor environment. Common indoor landmarks such as planes, corners and edges are located and classified with a multiple transducer sensor array. Accurate odometry information is derived from a pair of narrow unloaded encoder wheels. Discrete sonar observations are incrementally merged into partial planes to produce a realistic representation of environment. Collinearity constraints among features are exploited to enhance state estimation. The map update utilises Julier-Uhlmann Kalman filter which improves the accuracy of covariance propagation through nonlinear equations and eliminates the need to derive Jacobian matrices. Correlation among map features and robot location are explicitly represented. Partial planes are also used to eliminate phantom targets caused by sonar specular reflection.

关键词： Sonar Mobile robots Sensor arrays Sensor phenomena and characterization Indoor environments Transducers Wheels State estimation Nonlinear equations Jacobian matrices

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Indoor exploration using a sonar sensor array: a dual representation strategy

Indoor exploration using a sonar sensor array: a dual repres...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： K.S. Chong L. Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper presents an environmental acquisition strategy for a mobile robot using an advanced sonar sensor to achieve mapping navigation in an a priori unknown, imperfectly structured indoor environment. Most existing feature based strategies rely on unrealistic assumptions about the environment, while their grid based counterparts hinder localisation which leads to rapid degradation of map quality. A dual representation strategy is proposed here which exploits the strength of both a feature map and a grid map. With the advantage sensor, the environment is scanned and the obtained features are classified into planes, corners, edges and unknowns. The feature map is only updated with the first three types of features. The grid map is updated with all measurement, including the unknowns resulting from complicated objects, to enable obstacle avoidance. On the grid map, distance transform based exploratory path planning is implemented. Adaptation has been made so that an explore-local-first behaviour is exhibited.

关键词： Sensor arrays Path planning intelligent sensors intelligent robots Mobile robots Robot sensing systems Sonar navigation Degradation Space exploration intelligent structures

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