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The use of collaborative robot systems to perform specific tasks is a strong research area on robotic systems. Robot platforms are becoming cheaper, increasing the number of applications and new tasks variations on research labs. A collaborative system that join together small mobile robots to scan some specific area and a drone to set their position on the ground is a good example of the possible...
This paper aims to present a visual servoing control strategy that uses visual information, acquired by a fiducial system, to solve the regulation to an arbitrary pose problem in differential driven mobile robots. In addition, in order to make this system more robust and immune to occlusion, we will use an Extended Kalman Filter to fuse odometric data and the data acquired from several landmarks....
This paper presents the simulation of path following by an autonomous omnidirectional mobile robot with an onboard monocular camera. The control of the mobile robot for performing the aforementioned task is done with a 2D visual servoing by considering point features. Artificial landmarks are supposed to be placed in the robot's navigation environment. We performed this simulation in two ways. In...
According to the problem of point-to-point global path planning, this paper presents an A∗ algorithm based on the grid map and V-graph (Visual graph) environmental model for the mobile robot to obtain the optimal path. The algorithm mainly consists of three parts, namely building the grid map, designing the visual point-to-point lines and devising the search strategy of the path planning. The quantized...
This paper proposes a novel method of tracing dynamic objects for indoor mobile robot by fusing visual features. The proposed tracking algorithm is a kind of improved CAMSHIFT algorithm combined with SURF, optical flow and ultra-sonic data, to enhance the tracking capability. Since CAMSHIFT algorithm is based HSV color space model, it is weak on strong lighting, abrupt change of light and fast-moving...
A Smart Wheelchair (SW) is an electric powered wheelchair, equipped with sensors and computational capabilities, with the general aim of both enhancing independence and improving perceived quality of life of the impaired people using it. SWs belong to the class of semi-autonomous mobile robots, designed to carry the user from one location to another of his/her choice. For such systems, the localization...
Gas source localization (GSL) is one of the most important and direct applications of a gas sensitive mobile robot, and consists in searching for one or multiple volatile emission sources with a mobile robot that has improved sensing capabilities (i.e. olfaction, wind flow, etc.). This work adresses GSL by employing a teleoperated mobile robot, and focuses on which search strategy is the most suitable...
This paper proposes a visual servo control design for a wheeled mobile robot. This control is for a passing system between a moving object. The controller detects the passable space based on optical flow, and a reference marker on image plane generates automatically by using the optical flow. The mobile robot goes through between a moving object, e.g., a transport robot in a factory. The system is...
In the present work, a path following control for assistance robots is designed. The driver is designed to help blind people reach a destination through a path. This work is on the premise that person must choose the moment when the robot has to move due to it is using as support. Plus a linear velocity is generated an angular velocity which guides the person along the path, whenever the movement...
Autonomous self-driving car has gained a lot of interest with the advance of robotic technology. An autonomous car using only visual information for autonomous navigation is expected to mimic the way human driving capability. The car has to navigate robustly and completing the tasks in a specified environment. These tasks for example detecting road lanes, pedestrians, or road signs. In this paper,...
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in their environment as long as they keep the control over them. One important aspect is the control of a robot's workspace. Therefore, we introduce virtual borders to...
Puffy is a learning and playful robotic companion for pre-school children. Designed in cooperation with a team of educators and inspired by Disney's Baymax, Puffy has a combination of features which makes it unique with respect to existing robots used in educational contexts. It is mobile and has an egg-shaped inflatable and soft body; it supports multimodal interaction, reacting to children's gestures...
SLAM (Simultaneous Localization and Mapping) of robot is the key to achieve autonomous control of robot, and also a significant topic in the field of mobile robotics. Aiming at 3D modeling of indoor complex environment, this paper presents a fast three-dimensional simultaneous location and mapping (SLAM) method for mobile robots. On the basis of RGB-D SLAM algorithm, the open-source software combining...
Many robotic applications such as pick and place, navigation, docking, etc. need to visit a known place as an intermediate task. Homing is a method to reach a known position and is challenging to address specially in a GPS denied indoor environment. The approach is to match the information collected at home and current locations. The information collected from images is rich in amount, however to...
This paper considers the design and implementation of a visual servo system for catching a flying ball using an active stereo vision system, a static vision system, and an omni-directional wheeled mobile robot. These multi-camera vision systems are used to track the flying ball and guide the omni-directional mobile wheeled robot to catch it. The dynamic model of a flying ball and Kalman filter are...
Motion is one of the main functions of the mobile robots [1]. The problem to achieve the precise control of the mobile robot motion doesn't have a unique solution. This is because there are varieties of situations of mobile robot motion: from motion with full human guidance to mobile robot motion self-control usually tracking some object or human.
This paper presents a visual servo control approach based on homography for the leader-follower platooning system which consists of two wheeled robots. The proposed approach only requires the image taken under the ideal position with respect to the leader and corresponding distance to the plane pattern attach to leader robot. A virtual robot can be generated according to the homography and leader...
There are many methods for controlling the movement of mobile robots. Some of them are based on received information from the audio and video sensors of the robot. Some methods are using separately the audio or the video information, but the purpose of the current article is to combine both, using audio and video input in parallel, and by this to increase the effectiveness of controlling the movement...
In order to solve the problem of localization of indoor mobile robot, the visual location method of indoor mobile robot based on beeline detection is put forward. Through the four rotor UAV to set up the indoor mobile robot hardware platform. Using the Robot Operating System(ROS) to set up the software platform. Using camera to collect ground grid image to detect the image of the beeline in order...
This paper describes an experiment for gas-source localization with a human-teleoperated mobile robot devised to gather data on how humans search for odor-sources. To that end, more than 150 repetitions of the search process are recorded for 69 test subjects, under 4 sensor configurations (including electronic nose, anemometer and video camera) and 4 scenarios (i.e. with different wind-flow conditions...
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