Throughout a lifetime of operation, a mobile service robot needs to acquire, store and update its knowledge of a working environment. This includes the ability to identify and track objects in different places, as well as using this information for interaction with humans. This paper introduces a long-term updating mechanism, inspired by the modal model of human memory, to enable a mobile robot...

In this paper, we present the method of localization system that uses iGPS (indoor GPS) sensor and Omni‐directional vision sensor in the environment involving landmark. Self‐assembly robots need to know its own position to assemble to other robot. The indoor GPS (iGPS) is a simple and cheap localization sensor to adapt self‐assembly robots in the indoor environment. However, the error range of ...

This paper proposes a method for the visual-based navigation of a mobile robot in indoor environments, using a single omni-directional (catadioptric) camera. The geometry of the catadioptric sensor and the method used to obtain a bird’s eye (orthographic) view of the ground plane are presented. This representation significantly simplifies the solution to navigation problems, by eliminating any ...

The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. V...

Abstract : This paper presents a omni-directional mobile robot which can run on off-road and run over a obstacle. The robot equipped with crawler-roller running system. The motion analysis is also discussed to realize the autonomic off-road running. In order to automatically control the robot to run in optional direction and an orbit. We have to decide the inputting volts of the motors accordin...

In this paper, we describe the vision system for the DeWaLoP (Developing Water Loss Prevention) robot. The robot working environment is inside a pipe (a cylinder), which fits perfectly to the vision system, based on omni-directional cameras. By unrolling the omni-directional camera image to a panoramic image, the circular features of the pipe become linear and by adding a line tracking algorith...

Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In previous work we introduced a method to update the reference views in a topological map so that a mobile robot could continue to localize itself in a changing environment using omni-directional vision. In this work we extend this longterm updating mechanism to incor...

Vision sensors are attractive equipments for an autonomous mobile robot because they are informationrich and rarely have restrictions in range and various applications. However, there exists a difficult problem in using vision sensors to reconstruct geometrical information, which is a correspondence or matching problem. We present a simultaneous localization and map building (SLAM) algorithm fo...