In this paper, an obstacle avoidance method for wheeled mobile robots is proposed, based on selection of the local target points of robot’s movement called “via-points” which are defined in a navigation space, generated by taking into consideration a smooth robot motion. The proposed algorithm utilizes a fuzzy multi-attribute decision-making method in which three fuzzy goals are defined to achi...

In this paper, we present an approach that relies on machine learning techniques to follow people efficiently during robotic assistance tasks, in which the robot is mainly interested in reaching the final navigation goal of the human. People can perform unexpected actions during navigation, which can lead to inefficient trajectories to the target destination (ex: answer land-line phones ... etc...

This paper describes the design of a lighter than air autonomous robot and its natural landmark navigation system that operates in three dimensions. The robot has successfully flown the University banner at science shows and open days under public scrutiny. The robot is nearly 2m long and 0.8m wide, making the robot suitable for use in indoor environments. The robot may be programmed to fly a c...

In this paper we have considered the problem of outdoor mobile robot navigation using dead reckoning (DR) system and single GPS receiver. DR is a very simple and practical positioning technique. It is used in various positioning and navigation applications, especially for the mobile robot. DR can provide short term precise navigation information. But its errors will generally accumulate as the ...

We examine the use of semantic web resources in robot navigation; more specifically, in qualitative navigation where uncertain reasoning plays a significant role. We propose a framework for robot navigation that connects existing semantic web resources based on probabilistic description logics, with probabilistic relational learning and planning. We show the benefits of this framework in a real...

Localization and motion control (navigation) are two major tasks for a successful mobile robot navigation. The motion controller determines the appropriate action for the robot’s actuator based on its current state in an operating environment. A robot recognizes its environment through some sensors and executes physical actions through actuation mechanisms. However, sensory information is noisy...

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In mobile robot applications navigation systems are of great importance. Automation of mobile robots demands robust navigation systems. This thesis deals with a few solutions on how to help a mobile robot navigate in an environment. Navigation systems using retroreflective beacons and applications relying on laser range finders are two different solutions to aid a mobile robot. The first type o...

We address the problem of applying reactive navigation methods for collision avoidance to systems where the dynamics cannot be neglected: mobile robots with slow dynamic capabilities, or systems working at high speeds. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot dynamic constraints directly into the spatial representation. I...

This paper considers the problem of autonomous robot navigation in dynamic and congested environments. The predictive navigation paradigm is proposed where probabilistic planning is integrated with obstacle avoidance along with future motion prediction of humans and/or other obstacles. Predictive navigation is performed in a global manner with the use of a hierarchical Partially Observable Mark...