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A Study on the Effect of Parameters for ROS Motion Planer and Navigation System for Indoor Robot

Chen Zheng Looi, Danny Wee Kiat Ng
2021 International Journal of Electrical and Computer Engineering Research  
For the robot to navigate autonomously in the office, navigation algorithms and motion planners were implemented on these robots.  ...  In this study, the global planners, A* and Dijkstra algorithm and local planners, Dynamic Window Approach (DWA) and Time Elastic Band (TEB) algorithms were implemented and tested on a robot in simulation  ...  Danny Ng Wee Kiat for his invaluable advice, guidance and his enormous patience throughout the development of the research.  ... 
doi:10.53375/ijecer.2021.21 fatcat:sldj3lhe3fhhhejpbbkwchbjxm

E^3MoP: Efficient Motion Planning Based on Heuristic-Guided Motion Primitives Pruning and Path Optimization With Sparse-Banded Structure [article]

Jian Wen, Xuebo Zhang, Haiming Gao, Jing Yuan, Yongchun Fang
2021 arXiv   pre-print
path planner to further improve the computational efficiency of graph search, and 2) a new soft-constrained local path optimization approach is proposed, wherein the sparse-banded system structure of  ...  To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper.  ...  TEB takes 23.75 s on average to guide the robot to the goal. Compared with TEB, the motion efficiency of the proposed local planner is improved by 16.37%.  ... 
arXiv:2012.08892v3 fatcat:m2ny7rf4jrcelmfcrp2bqahgna

Development of task-oriented ROS-based Autonomous UGV with 3D Object Detection

Rajesh Raveendran, Siva Ariram, Antti Tikanmaki, Juha Roning
2020 2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)  
So, in this project we have developed Robot Operating System (ROS)-based autonomous system to solve the challenge for UGV criteria by detecting targeted objects in real-time, in our case its simulated  ...  One such scenario which is motivated by urban firefighting was designed in challenge 3 of MBZIRC 2020 competition.  ...  ACKNOWLEDGMENT We wish to thank University of Oulu which allowed us to collect the FSB Data-set in their warehouse.  ... 
doi:10.1109/rcar49640.2020.9303034 fatcat:ogrnllykdbbhznnnohiaiixts4

All-in-One: A DRL-based Control Switch Combining State-of-the-art Navigation Planners [article]

Linh Kästner, Johannes Cox, Teham Buiyan, Jens Lambrecht
2021 arXiv   pre-print
Autonomous navigation of mobile robots is an essential aspect in use cases such as delivery, assistance or logistics.  ...  Our planner was able to prefer learning-based approaches in situations with a high number of obstacles while relying on the traditional model-based planners in long corridors or empty spaces.  ...  RELATED WORKS Autonomous navigation of mobile robots has been extensively studied in various research publications.  ... 
arXiv:2109.11636v1 fatcat:xh6p6q54xbdutc5fuxmddnqcii

Arena-Rosnav: Towards Deployment of Deep-Reinforcement-Learning-Based Obstacle Avoidance into Conventional Autonomous Navigation Systems [article]

Linh Kästner, Teham Buiyan, Xinlin Zhao, Lei Jiao, Zhengcheng Shen, Jens Lambrecht
2021 arXiv   pre-print
into industrial applications of mobile robotics.  ...  In this paper, we propose a navigation system incorporating deep-reinforcement-learning-based local planners into conventional navigation stacks for long-range navigation.  ...  RELATED WORKS Autonomous navigation of mobile robots has been extensively studied in various research publications.  ... 
arXiv:2104.03616v2 fatcat:bjz34r533bg4xbps43d5a7a4mq

Search-based Kinodynamic Motion Planning for Omnidirectional Quadruped Robots [article]

Pei Wang, Xiaoyu Zhou, Qingteng Zhao, Jun Wu, Qiuguo Zhu
2021 arXiv   pre-print
Then the trajectory is refined by the timed elastic band (TEB) method based on the omnidirectional model of quadruped robots.  ...  However, most existing works on quadruped robots navigation using traditional search-based or sample-based methods do not consider the kinodynamic characteristics of quadruped robots, generating kinodynamically  ...  TEB is based on elastic [22] .  ... 
arXiv:2011.00806v2 fatcat:bwvoi5iw2nbp5alow4qwqc2sd4

Design and Development of a Research Oriented Low Cost Robotics Platform with a Novel Dynamic Global Path Planning Approach [article]

Shalutha Rajapakshe, Ramith Hettiarachchi
2022 arXiv   pre-print
Addressing this issue, in this work, Robot Operating System (ROS) supported mobile robotics platforms are compared and an end-to-end implementation of an autonomous navigation system based on a low-cost  ...  Autonomous navigation systems based on computer vision sensors often require sophisticated robotics platforms which are very expensive.  ...  After generating the map, we perform autonomous navigation based on our novel replanning algorithm, which makes use of the D* lite algorithm as the dynamic global path planner in the presence of various  ... 
arXiv:2203.10375v1 fatcat:3cpupinibvg6xovbtht2zrrzyy

Learning to Navigate: Exploiting Deep Networks to Inform Sample-Based Planning During Vision-Based Navigation [article]

Justin S. Smith, Jin-Ha Hwang, Fu-Jen Chu, Patricio A. Vela
2018 arXiv   pre-print
Implementation on a mobile robot matches the simulated performance outcomes.  ...  Controlled simulations with comparison against traditional planners show that the number of samples can be reduced by an order of magnitude while preserving navigation performance.  ...  EXPERIMENTAL EVALUATION To evaluate the quality of the overall ML-enhanced navigation pipelines, we run the vision-based navigation system in Gazebo-simulated environments and on an actual mobile robot  ... 
arXiv:1801.05132v1 fatcat:ybrlopcblrgrpbcwdoxhehmyhu

LBGP: Learning Based Goal Planning for Autonomous Following in Front [article]

Payam Nikdel, Richard Vaughan, Mo Chen
2020 arXiv   pre-print
These goals are used by a trajectory planner to smoothly navigate the robot to the short-term goals, and eventually in front of the user.  ...  Here, an autonomous robot aims to stay ahead of a person as the person freely walks around.  ...  We feed this output to the TEB local planner to navigate the robot in a smooth trajectory. B.  ... 
arXiv:2011.03125v1 fatcat:vwrcuu6uuzgsten43vpogo6xdi

Robot Navigation Based on Human Trajectory Prediction and Multiple Travel Modes

Zhixian Chen, Chao Song, Yuanyuan Yang, Baoliang Zhao, Ying Hu, Shoubin Liu, Jianwei Zhang
2018 Applied Sciences  
For a mobile robot, navigation skills that are safe, efficient, and socially compliant in crowded, dynamic environments are essential.  ...  We have demonstrated the performance of our approach outperforms state-of-the-art approaches with public datasets, in low-density and simulated medium-density crowded scenarios.  ...  Introduction Robots are expected to coexist with humans and perform a variety of tasks. Navigation skills are essential for autonomous mobile robots.  ... 
doi:10.3390/app8112205 fatcat:uw7laiiqpnebtep4y5vq6we3km

Deep Reinforcement Learning for Indoor Mobile Robot Path Planning

Junli Gao, Weijie Ye, Jing Guo, Zhongjuan Li
2020 Sensors  
This paper proposes a novel incremental training mode to address the problem of Deep Reinforcement Learning (DRL) based path planning for a mobile robot.  ...  Moreover, the PRM+TD3 path planner can effectively improve the generalization of the model.  ...  Introduction A mobile robot with autonomous navigation capability can search for one path within specific time to move from a start point to an endpoint without collision [1] .  ... 
doi:10.3390/s20195493 pmid:32992750 fatcat:kb6dceclfvbc7edkhr73i3sehi

The Marathon 2: A Navigation System [article]

Steve Macenski, Francisco Martín, Ruffin White, Jonatan Ginés Clavero
2020 arXiv   pre-print
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians.  ...  Various navigation solutions have been proposed, though few as widely adopted as ROS Navigation. 10 years on, it is still one of the most popular navigation solutions.  ...  ACKNOWLEDGEMENTS Other contributors on Navigation2 include: Matt Hansen, Carl Delsey, Brian Wilcox, Mohammad Haghighipanah, Mike Jeronimo, and Carlos Orduno.  ... 
arXiv:2003.00368v2 fatcat:g2bkfwpytnarhd5shuiaqixh3m

Path Planning for Automatic Guided Vehicles (AGVs) Fusing MH-RRT with Improved TEB

Jiayi Wang, Yonghu Luo, Xiaojun Tan
2021 Actuators  
Various simulations both on static and dynamic environments are conducted to clarify the performance of the proposed MH-RRT and the improved two-step TEB.  ...  On this basis, an improved two-step TEB is designed to optimize the local path if the current global path is feasible.  ...  Path Planning Problem In this paper, we take AGV as a differential drive mobile robot and address the path planning problem based on combining sampling-based with value-optimal based algorithms.  ... 
doi:10.3390/act10120314 fatcat:qubbdygi2bd6pejwvzxd5d5yge

TEB Local Path Planning Algorithm Based on Obstacle Dynamic Minimum Safety Distance

2022 jecet  
Intelligently made cars and autonomous mobile robots are presented in this paper how to use it in the global path planning based on TEB local path planning algorithm for dynamic obstacle avoidance were  ...  As one of the core algorithms and key technologies in the decision-making layer of intelligent connected vehicles and autonomous mobile robots, path planning algorithm directly affects the intellectualization  ...  operation effect of the entire mobile robot system.  ... 
doi:10.24214/jecet.c.11.1.03646 fatcat:xskm574kundm3mttvyt7hzhlrm

Golf cart prototype development and navigation simulation using ROS and Gazebo

Ilya Shimchik, Artur Sagitov, Ilya Afanasyev, Fumitoshi Matsuno, Evgeni Magid, A. Sikora, B. Choi, S. Wang
2016 MATEC Web of Conferences  
The autonomous navigation of Traxxas-based vehicle prototype has been tested in indoor environment, where it utilized sensory data about environment and vehicle states, and performed localization, optimal  ...  This paper presents our approach to development of an autonomous golf cart, which will navigate in inaccessible by regular vehicles private areas.  ...  /amcl 8 ROS-based Timed Elastic Band (TEB) local planner package: wiki.ros.org/teb_local_planner  ... 
doi:10.1051/matecconf/20167509005 fatcat:b6prifjmnjh4tgcrimtzezlafi
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