Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date.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...

Fast Localisation is a basic function within the mobile robotics. Beside the odometrie, mainly image sensors are used. This paper shows a short overview of the image sensors used for it. Outgoing from the 2D, 3D laser scanner, over 2D mono camera and 2D stereo camera, up to the omni-directional 2D camera are described problems, which appear in recording and modelling of the robot environment wi...

For many surveillance situations, the use of mobile robots has several advantages over static sensors. One of the advantages is that immediate action or investigation can be undertaken when an anomaly is detected. This paper presents a surveillance mobile robot that uses novelty detection. In this project, a neural network is trained to remember the normal measurements of the robot sensors, and...

Accurate and highly reliable self-localization system is needed for a mobile robot to work in human daily life environment. The studies of a indoor autonomous mobile robot often use visual sensors and laser range finders. Unfortunately, it is difficult to estimate the exact global location if the environment has number of places that have similar shape boundaries or small number of landmarks to...

In this paper, a nonlinear controller design for an omni-directional mobile robot is presented. The robot controller consists of an outer-loop (kinematics) controller and an inner-loop (dynamics) controller, which are both designed using the Trajectory Linearization Control (TLC) method based on a nonlinear robot dynamic model. The TLC controller design combines a nonlinear dynamic inversion an...

In this paper, we describe a visual servoing system developed as a human-robot interface to drive a mobile robot toward any chosen target. An omni-directional camera is used to get the 360 degree of field of view, and an efficient SSD based tracking technique is developed to track the target. The use of the omnidirectional geometry eliminates many of the problems common in visual tracking and m...

A method for egocentric navigation of mobile robots is described. Each robot has a local short-term memory structure called the Sensory Egosphere (SES), which is indexed by azimuth, elevation, and time. Directional sensory processing modules write information on the SES at the location corresponding to the source direction. Each robot has a partial map of its operational area that it has receiv...

With the continuous development of the industrialization process, the countries all over the world gradually appeared lack of agricultural labor force and aging phenomenon, which was especially prominent in developed countries. However the agricultural robot with high operating efficiency, high qualities of work will play an increasingly important role in future agricultural production. Robot n...

designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. for this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...