Vision based autonomous robot navigation: algorithms and implementations
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| Main Authors: | , , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Berlin ; Heidelberg
Springer
2013
|
| Series: | Studies in computational intelligence
455 |
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Item Description: | Literaturangaben |
| Physical Description: | IX, 226 S. Ill., graph. Darst. 24 cm |
| ISBN: | 9783642339646 3642339646 |
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| 100 | 1 | |a Chatterjee, Amitava |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Vision based autonomous robot navigation |b algorithms and implementations |c Amitava Chatterjee ; Anjan Rakshit ; N. Nirmal Singh |
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Record in the Search Index
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| adam_text |
IMAGE 1
CONTENTS
1 MOBILE ROBOT NAVIGATION 1
1.1 AUTONOMOUS MOBILE ROBOT NAVIGATION 1
1.2 W H Y VISION IN NAVIGATION? 1
1.3 VISION-BASED NAVIGATION 3
1.3.1 VISION BASED INDOOR NAVIGATION 4
1.3.1.1 MAP-BASED NAVIGATION 4
1.3.1.2 MAP-BUILDING-BASED NAVIGATION 4
1.3.1.3 MAPLESS NAVIGATION 5
1.3.2 VISION BASED OUTDOOR NAVIGATION 6
1.4 STATE O F THE ART 6
1.5 OBSTACLE DETECTION AND AVOIDANCE 12
1.6 SUMMARY 14
REFERENCES 14
2 INTERFACING EXTERNAL PERIPHERALS WITH A MOBILE ROBOT 21
2.1 INTRODUCTION 21
2.2 PIC MICROCONTROLLER BASED SYSTEM FOR INTERFACING A VISION SYSTEM
WITH A READY-MADE ROBOT 2 3
2.3 T H E INTEGRATED SYSTEM EMPLOYING K O A L A ROBOT WITH A P C AND A
VISION SYSTEM 3 4
2.4 REAL-LIFE PERFORMANCE EVALUATION 3 9
2.5 SUMMARY 4 5
ACKNOWLEDGEMENT 4 5
REFERENCES 4 5
3 VISION-BASED MOBILE ROBOT NAVIGATION USING SUBGOALS 47
3.1 INTRODUCTION 4 7
3.2 T H E HARDWARE SETUP 4 9
3.3 A TWO-LAYER, GOAL ORIENTED NAVIGATION S C H E M E 52
3.4 IMAGE PROCESSING BASED EXPLORATION O F THE ENVIRONMENT IN LAYER 1 5
3 3.5 SHORTEST PATH COMPUTATION AND SUBGOAL GENERATION 5 8
3.6 IR BASED NAVIGATION IN LAYER 2 6 2
3.7 REAL-LIFE PERFORMANCE EVALUATION 63
3.8 SUMMARY 8 0
ACKNOWLEDGEMENT 81
REFERENCES 81
HTTP://D-NB.INFO/1025944186
IMAGE 2
VIII
CONTENTS
4 INDIGENOUS DEVELOPMENT OF VISION-BASED MOBILE ROBOTS 83
4.1 INTRODUCTION 8 3
4.2 DEVELOPMENT O F A LOW-COST VISION BASED MOBILE ROBOT 8 4
4.3 DEVELOPMENT O F MICROCONTROLLER BASED SENSOR SYSTEMS FOR SUCH ROBOTS
85
4.3.1 IR RANGE FINDER SYSTEM WITH DYNAMIC RANGE ENHANCEMENT 85 4.3.1.1 T
H E DYNAMIC RANGE ENHANCEMENT ALGORITHM 8 8
4.3.1.2 EXPERIMENTAL RESULTS 8 9
4.3.2 OPTICAL PROXIMITY DETECTORS USING SWITCHING-MODE SYNCHRONOUS
DETECTION TECHNIQUE 8 9
4.3.2.1 PIC MICROCONTROLLER BASED OPTICAL PROXIMITY DETECTOR 9 0
4.3.2.2 SWITCHING M O D E SYNCHRONOUS DETECTION ( S M S D ) TECHNIQUE 9
4
4.3.2.3 EXPERIMENTAL RESULTS 9 6
4.4 T H E INTRANET-CONNECTIVITY FOR CLIENT-SERVER OPERATION 9 7
4.5 SUMMARY 9 9
REFERENCES 100
5 SAMPLE IMPLEMENTATIONS OF VISION-BASED MOBILE ROBOT ALGORITHMS 101 5.1
INTRODUCTION 101
5.2 LESSON 1 102
5.3 LESSON 2 108
5.4 LESSON 3 113
5.5 LESSON 4 116
5.6 LESSON 5 119
5.7 LESSON 6 124
5.8 LESSON 7 129
5.9 LESSON 8 132
5.10 LESSON 9 134
5.11 LESSON 10 137
5.12 SUMMARY 141
REFERENCES 142
6 VISION BASED MOBILE ROBOT PATH/LINE TRACKING 143
6.1 INTRODUCTION 143
6.2 A PREVIEW O F THE PROPOSED SCHEME 144
6.3 A FUZZY SYSTEM FOR VISION BASED ROBOT NAVIGATION 146
6.4 T H E IR-SENSOR BASED OBSTACLE AVOIDANCE BY EMPLOYING A FUZZY
ALGORITHM 155
6.5 REAL-LIFE PERFORMANCE EVALUATION 158
6.6 SUMMARY 165
ACKNOWLEDGEMENT 165
REFERENCES 165
IMAGE 3
CONTENTS IX
7 SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) IN MOBILE ROBOTS 167 7.1
INTRODUCTION 167
7.2 EXTENDED KALMAN FILTER (EKF) BASED STOCHASTIC S L A M ALGORITHM 170
7.3 NEURO-FUZZY ASSISTANCE FOR E K F BASED S L A M 176
7.4 T H E NEURO-FUZZY ARCHITECTURE AND ITS TRAINING METHODOLOGY
EMPLOYING PARTICLE S W A R M OPTIMIZATION (PSO) 180
7.4.1 ARCHITECTURE O F THE NEURO-FUZZY MODEL 180
7.4.2 TRAINING THE NEURO-FUZZY MODEL EMPLOYING P S O 181
7.4.3 PERFORMANCE EVALUATION 184
7.5 TRAINING A FUZZY SUPERVISOR EMPLOYING DIFFERENTIAL EVOLUTION (DE)
BASED OPTIMIZATION 193
7.5.1 PERFORMANCE EVALUATION 194
7.6 SUMMARY 2 0 3
ACKNOWLEDGEMENT 2 0 3
REFERENCES 2 0 3
8 VISION BASED SLAM IN MOBILE ROBOTS 207
8.1 INTRODUCTION 2 0 7
8.2 T H E DYNAMIC STATE MODEL FOR THE DIFFERENTIAL DRIVE KOALA R O B O T
2 0 8 8.3 VISION SENSING BASED IMAGE FEATURE IDENTIFICATION, FEATURE
TRACKING AND 3 D DISTANCE CALCULATION FOR EACH FEATURE 211
8.4 REAL-LIFE PERFORMANCE EVALUATION 2 1 5
8.5 SUMMARY 2 2 0
ACKNOWLEDGEMENT 221
REFERENCES 221
INDEX 223 |
| any_adam_object | 1 |
| author | Chatterjee, Amitava Rakshit, Anjan Singh, N. Nirmal |
| author_facet | Chatterjee, Amitava Rakshit, Anjan Singh, N. Nirmal |
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| author_sort | Chatterjee, Amitava |
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| dewey-full | 629.892637 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892637 |
| dewey-search | 629.892637 |
| dewey-sort | 3629.892637 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| isbn | 9783642339646 3642339646 |
| language | English |
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| physical | IX, 226 S. Ill., graph. Darst. 24 cm |
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| series | Studies in computational intelligence |
| series2 | Studies in computational intelligence |
| spelling | Chatterjee, Amitava Verfasser aut Vision based autonomous robot navigation algorithms and implementations Amitava Chatterjee ; Anjan Rakshit ; N. Nirmal Singh Berlin ; Heidelberg Springer 2013 IX, 226 S. Ill., graph. Darst. 24 cm txt rdacontent n rdamedia nc rdacarrier Studies in computational intelligence 455 Literaturangaben Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Navigation (DE-588)4041457-7 gnd rswk-swf Maschinelles Sehen (DE-588)4129594-8 gnd rswk-swf Autonomer Roboter (DE-588)4304075-5 s Navigation (DE-588)4041457-7 s Maschinelles Sehen (DE-588)4129594-8 s DE-604 Rakshit, Anjan Verfasser aut Singh, N. Nirmal Verfasser aut Erscheint auch als Online-Ausgabe Vision Based Autonomous Robot Navigation Studies in computational intelligence 455 (DE-604)BV020822171 455 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=4121673&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025745705&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Chatterjee, Amitava Rakshit, Anjan Singh, N. Nirmal Vision based autonomous robot navigation algorithms and implementations Studies in computational intelligence Autonomer Roboter (DE-588)4304075-5 gnd Navigation (DE-588)4041457-7 gnd Maschinelles Sehen (DE-588)4129594-8 gnd |
| subject_GND | (DE-588)4304075-5 (DE-588)4041457-7 (DE-588)4129594-8 |
| title | Vision based autonomous robot navigation algorithms and implementations |
| title_auth | Vision based autonomous robot navigation algorithms and implementations |
| title_exact_search | Vision based autonomous robot navigation algorithms and implementations |
| title_full | Vision based autonomous robot navigation algorithms and implementations Amitava Chatterjee ; Anjan Rakshit ; N. Nirmal Singh |
| title_fullStr | Vision based autonomous robot navigation algorithms and implementations Amitava Chatterjee ; Anjan Rakshit ; N. Nirmal Singh |
| title_full_unstemmed | Vision based autonomous robot navigation algorithms and implementations Amitava Chatterjee ; Anjan Rakshit ; N. Nirmal Singh |
| title_short | Vision based autonomous robot navigation |
| title_sort | vision based autonomous robot navigation algorithms and implementations |
| title_sub | algorithms and implementations |
| topic | Autonomer Roboter (DE-588)4304075-5 gnd Navigation (DE-588)4041457-7 gnd Maschinelles Sehen (DE-588)4129594-8 gnd |
| topic_facet | Autonomer Roboter Navigation Maschinelles Sehen |
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| volume_link | (DE-604)BV020822171 |
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