Indoor navigation with uncertainty using sensor-based motions
نویسندگان
چکیده
This paper presents an operational framework to bridge the gap between planning with uncertainty and real-time sensor-based motion control. The environment being known, a planner produces a plan composed of free space and sensor-based motion commands. The representations of uncertainty and its evolution, environment landmarks, and actions generated at the planning level are discussed. Sensor-based actions and command deenitions for a nonholonomic mobile robot based on a Task-Potential eld approach are developed. These various elements are integrated in a system that actually generates the motions of the Hilare2 mobile robot.
منابع مشابه
Seamless Navigation Using Various Sensors: an Overview of the Seamless Navigation Campaign
Seamless positioning techniques in indoor and outdoor environments are necessary for obtaining sensor locations. However, no definitive indoor-outdoor navigation system simultaneously provides high accuracy, high availability and low installation cost. Furthermore, crowded indoor-outdoor navigation systems consisting of multiple techniques will destructively interfere with each other, but an ex...
متن کاملdesigning and implementing a 3D indoor navigation web application
During the recent years, the need arises for indoor navigation systems for guidance of a client in natural hazards and fire, due to the fact that human settlements have been complicating. This research paper aims to design and implement a visual indoor navigation web application. The designed system processes CityGML data model automatically and then, extracts semantic, topologic and geometric...
متن کاملA Hierarchical SLAM/GPS/INS Sensor Fusion with WLFP for Flying Robo-SAR's Navigation
In this paper, we present the results of a hierarchical SLAM/GPS/INS/WLFP sensor fusion to be used in navigation system devices. Due to low quality of the inertial sensors, even a short-term GPS failure can lower the integrated navigation performance significantly. In addition, in GPS denied environments, most navigation systems need a separate assisting resource, in order to increase the avail...
متن کاملA Floor Plan based Vision Navigation System for Indoor Navigation with Smart Device
Many smart devices like smart phone and tablet nowadays are featured for hybrid sensor platform of GPS chip, inertial sensor(s), magnetic compass and other gadgets such as camera and Wi-Fi. The interest to apply those smart devices for indoor navigation is growing since a large variety of sensors on such devices enable hybrid location solutions to not only improve the availability of indoor pos...
متن کاملIndoor Navigation System for Mobile Robot using Wireless Sensor Network
We describe an algorithm for indoor mobile robot navigation using wireless sensor network. In our navigation system, a robot can navigate autonomously without the need for a map, a compass, or GPS. We use only several sensor nodes with ultrasonic sensors. Sensor nodes are deployed in an indoor environment and each sensor node has routing paths to all available destination-nodes through flooding...
متن کامل