Odometrija mobilnog robota bazirana na optičkom toku podržana s više senzora i fuzijom senzora

This paper introduces an optical flow based odometry solution for indoor mobile robots. The indoor localization of mobile robots is an important issue according to the increasing mobile robot market and the needs of the industrial, service and consumer electronics sectors. The robot odometry calculated from the robot kinematics accumulates the position error caused by the wheel slip but an optical flow based measurement is independent from wheel slipping so both methods have different credibility which was considered during the sensor fusion and the development. The focus of the research was to design an embedded system with high accuracy on the possibly lowest price to serve the needs of the consumer electronics sector without the need of expensive camera and real-time embedded computer based high level robot localization solutions. The paper proposes the theoretical background, the implementation and the experimental results as well. The universal optical flow module can be implemented in any kind of indoor mobile robot to measure the position and the orientation of the robot during the motion, even in the case of a 3 DoF holonomic drive like kiwi drive. The application of omnidirectional wheels in mobile robotics requires high accurate position and orientation feedback methods contrary to differential drives.Ovaj rad predstavlja rješenje odometrije mobilnog robota za unutrašnje prostore koje se bazira na optičkom toku. Lokalizacija mobilnog robota u unutrašnjim prostorima je veoma važno pitanje u rastućem tržištu mobilnih robota i potreba industrijskog, uslužnog i sektora potrošačke elektronike. Odometrija robota izračunata iz kinematike robota nakuplja greške s vremenom radi sklizanja kotača, dok na odometriju izmjerenu optičkim tokom klizanje ne utječe, te obje metode imaju različit kredibilitet što je uzeto u obzir prilikom fuzije senzora i razvoja. Fokus istraživanja je bio dizajnirati ugradbeno sustav visoke točnosti i niske cijene koji bi zadovoljio potrebe sektora potrošačke elektronike bez potrebe za skupim kamerama i lokalizacijskim rješenjima mobilnog robota visokog nivoa namijenjenim izvođenju na ugradbenim računalima za rad u stvarnom vremenu. U radu je iznesena teorijska podloga, implementacija i eksperimentalni rezultati. Univerzalni modul za izračun optičkog toka može se implementirati na bilo kojem mobilnom robotu za unutrašnje prostore kako bi mjerio poziciju i rotaciju robota tijekom gibanja, čak i u slučaju 3 DoF holonomskog pogona kao što je kiwi pogon. Korištenje omnidirekcijskih kotača u mobilnoj robotici zahtjeva visoku točnost pozicije i orijentacije za razliku od diferencijalnog pogona

Cost-effective robot for steep slope crops monitoring

This project aims to develop a low cost, simple and robust robot able to autonomously monitorcrops using simple sensors. It will be required do develop robotic sub-systems and integrate them with pre-selected mechanical components, electrical interfaces and robot systems (localization, navigation and perception) using ROS, for wine making regions and maize fields

Mobile Robot Performance Analysis for Indoor Robotics

In the last few years the market of robotics has significantly changed and the growing sector of service robotics requires new considerations in civil engineering. This paper investigates different room and furniture arrangements in the view of mobile robot navigation requirements. The described method provides robot motion and path planning cost functions for different furniture arrangements and floor maps. During mobile robot path planning ISO 7176-10:2008 and ISO 7176-5:2008 (electrically powered wheelchair) compatible buildings were considered to find the optimal solutions over the minimal standardized requirements. The proposed method can provide efficient results regarding navigation error, time and power consumption

An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer

Diplomová práce popisuje návrh a implementaci odometrického senzoru vhodného pro malé bezpilotní létající prostředky. Senzor je založen na jednodeskovém počítači s operačním systémem Linux a kameře směřující k zemi. Počítac obsahuje hardwarový grafický čip, který během kódováni videa počítá optický tok. Optický tok je spolu s informací ze senzoru vzdálenosti použit pro odhad aktuální rychlosti pohybu. Senzor byl porovnán s existujícím řešením a otestován v místnosti i ve venkovním prostředí. Práce také navrhuje alternativní softwarová řešení, která nejsou pevně svázána se specifickou hardwarovou implementací počítače.The thesis describes the design and implementation of an odometry sensor suitable for micro aerial vehicles. The sensor is based on a ground-facing camera and a single-board Linux-based embedded computer with a multimedia SoC. The SoC features a hardware video encoder which is used to estimate optical flow in a real-time. The optical flow is then used in combination with a distance sensor to estimate vehicle's velocity. The proposed sensor is compared to a similar existing solution and evaluated in both indoor and outdoor environments. Moreover, alternative software approaches, independent of the selected board's specific hardware and firmware implementation, are also proposed

Realization of Performance Advancements for WPI\u27s UGV - Prometheus

The objective of this project is to design and implement performance improvements for WPI\u27s intelligent ground vehicle, Prometheus, leading to a more competitive entry at the Intelligent Ground Vehicle Competition. Performance enhancements implemented by the project team include a new upper chassis design, a reconfigurable camera mount, extended Kalman filter-based localization with a GPS receiver and a compass module, a lane detection algorithm, and a modular software framework. As a result, Prometheus has improved autonomy, accessibility, robustness, reliability, and usability

Real-Time Indoor Localization using Visual and Inertial Odometry

This project encompassed the design of a mobile, real-time localization device for use in an indoor environment. A system was designed and constructed using visual and inertial odometry methods to meet the project requirements. Stereoscopic image features were detected through a C++ Sobel filter implementation and matched. An inertial measurement unit (IMU) provided raw acceleration and rotation coordinates which were transformed into a global frame of reference. A Kalman filter produced motion approximations from the input data and transmitted the Kalman position state coordinates via a radio transceiver to a remote base station. This station used a graphical user interface to map the incoming coordinates

VSLAM and Navigation System of Unmanned Ground Vehicle Based on RGB-D Camera

In this thesis, ROS (Robot Operating System) is used as the software platform and a simple unmanned ground vehicle that is designed and constructed by myself is used as the hardware platform. The most critical issues in the navigation technology of unmanned ground vehicles in unknown environments -SLAM (Simultaneous Localization and Mapping) and autonomous navigation technology are studied. Through the analysis of the principle and structure of visual SLAM, a visual simultaneous localization and mapping algorithm is build. Moreover, accelerate the visual SLAM algorithm through hardware replacement and software algorithm optimization. RealSense D435 is used as the camera of the VSLAM sensor. The algorithm extracts the features from the data of depth camera and calculates the odometry information of the unmanned vehicle through the features matching of the adjacent image. Then update the vehicle’s location and map data using the odometry information. Under the condition that the visual SLAM algorithm works normally, this thesis also uses the 3D map generated to derive the real-time 2D projection map. So as to apply it to the navigation algorithm. Then this thesis realize autonomous navigation and avoids the obstacle function of unmanned vehicle by controlling the driving speed and direction of the vehicle through the navigation algorithm using the 2D projection map. Unmanned ground vehicle path planning is mainly two parts: local path planning and global path planning. Global path planning is mainly used to plan the optimal path to the destination. Local path planning is mainly used to control the speed and direction of the UGV. This thesis analyzes and compares Dijkstra’s algorithm and A* algorithm. Considering the compatible to ROS, Dijkstra’s algorithm is finally used as the global path-planning algorithm. DWA (Dynamic Window Approach) algorithm is used as Local path planning. Under the control of the Dijkstra’s algorithm and the DWA algorithm, unmanned ground vehicles can automatically plan the optimal path to the target point and avoid obstacles. This thesis also designed and constructed a simple unmanned ground vehicle as an experimental platform and design a simple control method basing on differential wheeled unmanned ground vehicle and finally realized the autonomous navigation of unmanned ground vehicles and the function of avoiding obstacles through visual SLAM algorithm and autonomous navigation algorithm. Finally, the main work and deficiencies of this thesis are summarized. And the prospects and difficulties of the research field of unmanned ground vehicles are presented

Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions

Welcome to ROBOTICA 2009. This is the 9th edition of the conference on Autonomous Robot Systems and Competitions, the third time with IEEE‐Robotics and Automation Society Technical Co‐Sponsorship. Previous editions were held since 2001 in Guimarães, Aveiro, Porto, Lisboa, Coimbra and Algarve. ROBOTICA 2009 is held on the 7th May, 2009, in Castelo Branco , Portugal. ROBOTICA has received 32 paper submissions, from 10 countries, in South America, Asia and Europe. To evaluate each submission, three reviews by paper were performed by the international program committee. 23 papers were published in the proceedings and presented at the conference. Of these, 14 papers were selected for oral presentation and 9 papers were selected for poster presentation. The global acceptance ratio was 72%. After the conference, eighth papers will be published in the Portuguese journal Robótica, and the best student paper will be published in IEEE Multidisciplinary Engineering Education Magazine. Three prizes will be awarded in the conference for: the best conference paper, the best student paper and the best presentation. The last two, sponsored by the IEEE Education Society ‐ Student Activities Committee. We would like to express our thanks to all participants. First of all to the authors, whose quality work is the essence of this conference. Next, to all the members of the international program committee and reviewers, who helped us with their expertise and valuable time. We would also like to deeply thank the invited speaker, Jean Paul Laumond, LAAS‐CNRS France, for their excellent contribution in the field of humanoid robots. Finally, a word of appreciation for the hard work of the secretariat and volunteers. Our deep gratitude goes to the Scientific Organisations that kindly agreed to sponsor the Conference, and made it come true. We look forward to seeing more results of R&D work on Robotics at ROBOTICA 2010, somewhere in Portugal