Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. A...
Global localization is one of the important issues for mobile robots to achieve indoor navigation. Nowadays, most mobile robots rely on light detection and ranging (LiDAR) and adaptive Monte Carlo localization (AMCL) to realize their localization and...
This paper deals with the recursive state estimation issue for mobile robot localization under a dynamic event-based mechanism. To enhance the utilization of communication resources, a dynamic event-based transmission protocol is utilized to reduce u...
This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution....
Aiming at the localization problem of mobile robot in construction scenes, a hybrid localization algorithm with the adaptive weights is proposed, which can effectively improve the robust localization of mobile robot. Firstly, two indicators of locali...
Localization of a semi-humanoid mobile robot Pepper is proposed based on the particle swarm optimization algorithm (PSO) that is robust to the disturbance perturbations of LIDAR-measured distances from the mobile robot to the walls of the robot real...
In the evolving field of mobile robotics, enhancing localization robustness in dynamic environments remains a critical challenge, particularly for ROS 2-based systems where sensor fusion plays a pivotal role. This study evaluates an AI-driven approac...
The paper presents research on methods of a wheeled mobile robot localization using an optical motion capture system. The results of localization based on the model of forward kinematics and odometric measurements were compared. A pure pursuit contro...
This paper presents a novel self-localization technique for mobile robots based on image feature matching from omnidirectional vision. The proposed method first constructs a virtual space with synthetic omnidirectional imaging to simulate a mobile ro...
Understanding the environment is an essential ability for robots to be autonomous. In this sense, Convolutional Neural Networks (CNNs) can provide holistic descriptors of a scene. These descriptors have proved to be robust in dynamic environments. Th...
Deep learning has made great advances in the field of image processing, which allows automotive devices to be more widely used in humans’ daily lives than ever before. Nowadays, the mobile robot navigation system is among the hottest topics that rese...
Localization is one of the most important issues in mobile robotics, especially when an autonomous mobile robot performs a navigation task. The current and popular occupancy grid map, based on 2D LiDar simultaneous localization and mapping (SLAM), is...
Semi-open and chaotic environments of building sites are considered primary challenges for the localization of mobile construction robots. To mitigate environmental limitations, an improved trilateral localization technique based on artificial landma...
This paper addresses the localization of a gas emission source within a real-world human environment with a mobile robot. Our approach is based on an efficient and coherent system that fuses different sensor modalities (i.e., vision and chemical sens...
In this paper, the localization problem of a mobile robot equipped with a Doppler–azimuth radar (D–AR) is investigated in the environment with multiple landmarks. For the type (2,0) robot kinematic model, the unknown modeling errors are generally aro...
Target-following mobile robots have gained attention in various industrial applications. This study proposes an ultra-wideband-based target localization method that provides highly accurate and robust target tracking performance for a following robot...
Mobile olfaction is one of the applications of mobile robots. Metal oxide sensors (MOX) are mobile robots’ most popular gas sensors. However, the sensor has drawbacks, such as high-power consumption, high operating temperature, and long recover...
This paper presents a multi-sensor fusion framework for the accurate indoor localization and trajectory tracking of a differential-drive mobile robot. The proposed system integrates Ultra-Wideband (UWB) trilateration, wheel odometry, and Attitude and...
Localization of access points has become an important research problem due to the wide range of applications it addresses such as dismantling critical security threats caused by rogue access points or optimizing wireless coverage of access points wit...
The Multiple Mobile Robot (MMR) cooperative system is becoming a focus of study in various fields due to its advantages, such as high efficiency and good fault tolerance. However, the uncertainty and nonlinearity problems severely limit the cooperati...
The ability to estimate the current locations of mobile robots that move in a limited workspace and perform tasks is fundamental in robotic services. However, even if the robot is given a map of the workspace, it is not easy to quickly and accurately...
In scenarios of indoor localization of mobile robots, Global Positioning System (GPS) signals are prone to loss due to interference from urban building environments and cannot meet the needs of robot localization. On the other hand, traditional indoo...
This research focuses on enhancing cooperative localization for heterogeneous mobile robots composed of a quadcopter and an unmanned ground vehicle. The study employs sensor fusion techniques, particularly the Extended Kalman Filter, to fuse data fro...
High-precision indoor localization and tracking are essential requirements for the safe navigation and task execution of autonomous mobile robots. Despite the growing importance of mobile robots in various areas, achieving precise indoor localization...
Mobile robots are widely employed in various fields to perform autonomous tasks. In dynamic scenarios, localization fluctuations are unavoidable and obvious. However, common controllers do not consider the impact of localization fluctuations, resulti...
Robust autonomous navigation systems rely on mapping, locomotion, path planning, and localization factors. Localization, one of the most essential factors of navigation, is a crucial requirement for a mobile robot because it needs the capability to l...
The increasing demand for autonomous mobile robots in complex environments calls for efficient path-planning algorithms. Bio-inspired algorithms effectively address intricate optimization challenges, but their computational cost increases with the nu...
Localization, which is a technique required by service robots to operate indoors, has been studied in various ways. Most localization techniques have the robot measure environmental information to obtain location information; however, this is a high-...
This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the...
This paper presents the development and validation of a cost-efficient and uncomplicated real-time localization system (RTLS) for use in mobile robotics, specifically within indoor and storage environments. By harnessing ultrasonic waves to measure d...
It is essential to provide reliable localization results to allow mobile robots to navigate autonomously. Even though many state-of-the-art localization schemes have so far shown satisfactory performance in various environments, localization has stil...
With the rapid development of robotics, wheeled mobile robots are widely used in smart factories to perform navigation tasks. In this paper, an optimal trajectory planning method based on an improved dolphin swarm algorithm is proposed to balance loc...
This paper presents an innovative and cost-effective solution for the absolute localization of mobile robots using ultrasound beacons. The proposed system addresses the challenge of precise positioning within a controlled environment by employing Dif...
Path planning is a core technology for mobile robots. However, existing state-of-the-art methods suffer from issues such as excessive path redundancy, too many turning points, and poor environmental adaptability. To address these challenges, this pap...
One of the most important skills desired for a mobile robot is the ability to obtain its own location even in challenging environments. The information provided by the sensing system is used here to solve the global localization problem. In our previ...
In this paper, we present a novel method for obstacle avoidance designed for a nonholonomic mobile robot. The method relies on light detection and ranging (LiDAR) readings, which are mapped into a polar coordinate system. Obstacles are taken into con...
This paper proposes mobile robot self-localization based on an onboard 2D push-broom (or tilted-down) LIDAR using a reference 2D map previously obtained with a 2D horizontal LIDAR. The hypothesis of this paper is that a 2D reference map created with...
In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy...
The artificial potential field method has efficient obstacle avoidance ability, but this traditional method suffers from local minima, unreasonable paths, and sudden changes in heading angles during obstacle avoidance, leading to rough paths and incr...
This paper describes an automatic calibration procedure adopted to improve the localization of an outdoor mobile robot. The proposed algorithm estimates, by using an extended Kalman filter, the main kinematic parameters of the vehicles, such as the w...
Assistive robotic applications require systems capable of interaction in the human world, a workspace which is highly dynamic and not always predictable. Mobile assistive devices face the additional and complex problem of when and if intervention sho...
Outdoor mobile robot applications generally implement Global Positioning Systems (GPS) for localization tasks. However, GPS accuracy in outdoor localization has less accuracy in different environmental conditions. This paper presents two outdoor loca...
In recent years, there has been growing interest in autonomous mobile robots equipped with Simultaneous Localization and Mapping (SLAM) technology as a solution to labour shortages in production and distribution settings. SLAM allows these robots to...
Radio frequency identification (RFID) technology has already been explored for efficient self-localization of indoor mobile robots. A mobile robot equipped with RFID readers detects passive RFID tags installed on the floor in order to locate itself....
Locating the sound source is one of the most important capabilities of robot audition. In recent years, single-source localization techniques have increasingly matured. However, localizing and tracking specific sound sources in multi-source scenarios...
This paper proposes a method for mobile robot localization in a partially unknown indoor environment. The method fuses two types of range measurements: the range from the robot to the beacons measured by ultrasonic sensors and the range from the robo...
Given the lack of scale information of the image features detected by the visual SLAM (simultaneous localization and mapping) algorithm, the accumulation of many features lacking depth information will cause scale blur, which will lead to degradation...
This paper investigates the localization of mobile robots in both indoor and outdoor scenarios. A zonotopic set-membership approach is proposed to fuse global navigation satellite system and odometry data outdoors, and 2D laser and odometry data indo...
The Iterative Closest Point (ICP) is a matching technique used to determine the transformation matrix that best minimizes the distance between two point clouds. Although mostly used for 2D and 3D surface reconstruction, this technique is also widely...
Mobile robots in industry are commonly used in warehouses and factories. To achieve the highest production rate, requirements for path planning algorithms have caused researchers to pay significant attention to this problem. The artificial potential...
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