In this paper is presented a navigation scheme, based on a genetic algorithm, for autonomous robot navigation. Potential fields are used to attract the robot by the goal position and reject it by the obstacles. In the scheme presented here obstacles are automatically detected by simulated sonar sensors. The configuration of the optimum potential field is determined by the genetic algorithm. Int...

This study proposes devices suitable for use by non-experts to design robot navigation routes. The user places landmarks, called pebbles, on the floor to tell navigation routes to a robot. Using infrared communication, the pebbles automatically generate navigation routes. The system is designed such that nonexpert users can understand the system status to configure the user’s target environment...

1 www.erpublication.org  Abstract— This paper presents a new vision based routing method using elliptical geometry approach for floor-pattern tracking on robot navigation. Path tracking is important in vision based mobile robot navigation and it acts as the sense of seeing, recognizing and directing the mobile robot to its destination. Geometry for floor pattern is designed and vision based pa...

A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as a laser tracker or indoor GPS (iGPS) in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the la...

This report presents a basic contact interaction-based navigation strategy for a biped humanoid robot to support current visual-based navigation. The robot’s arms were equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization tasks, correction of locomotion direction tasks and obstacle avoidance tasks. Pr...

Navigation and localization are two important issues which need to be addressed in order to let robots work in the human living environment. We believe that it is not always necessary to build a robot system with a precise and accurate navigation in some situations. For example, those cases where a robot is programmed for guiding way in a building environment or fulfilling a delivery task. With...

This paper proposes an indoor navigation system for an autonomous mobile robot including the teaching of its environment. The self-localization of the vehicle is done by detecting the pose of corridors fluorescent tubes with a camera pointing to the ceiling. A map of the lights based on odometry and used later for navigation tasks is first built by remote controlling the robot. The map distorti...

In this paper we present an algorithm to build a sensor-based, dynamic data structure useful for robot navigation in an unknown, multiply-connected planar environment. This data structure offers a robust framework for robot navigation, avoiding the need of a complete geometric map or explicit localization, by building a minimal representation based entirely on critical events in online sensor m...

A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as a laser tracker or indoor GPS (iGPS) in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the la...

In this paper we present a novel approach to mobile robot navigation in natural unstructured environments. Natural scenes can be considered as random fields where a large number of individual objects of random shape appear randomly scattered in space. In this paper we use Random Closed Sets (RCS) to model the random scattering and shape of the objects observed, and base the navigation of a robo...