[1]CAO Wei-hua,WU Jing-bin,WU Min,et al.A system for telerobotics in environments without landmarks[J].CAAI Transactions on Intelligent Systems,2010,5(3):240-246.
Copy

A system for telerobotics in environments without landmarks

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 5 Number of periods: 2010 3 Page number: 240-246 Column: 学术论文—智能系统 Public date: 2010-06-25
Title:
A system for telerobotics in environments without landmarks
Author(s):
CAO Wei-hua;  WU Jing-bin;  WU Min;  CHEN Xin
School of Information Science and Engineering, Central South University, Changsha 410083, China
Keywords:
wireless network;  realtime localization;  path planning;  map building;  telerobotics;  SLAM system
CLC:
TP242.6
DOI:
-
Abstract:
To improve the practicality and efficiency of telerobotics, the authors developed a mobile robot system which uses a wireless network. This allows robots to explore environments without known landmarks. The system consists of two subsystems, the mobile robot itself and the remote state monitoring system. Based on the functional requirements, a hardware structure was proposed with multicontroller cooperation and mulitisensor information fusion. An improved vector field histogram (VFH) algorithm was presented. This gave the robot the ablility to do realtime location and laser ranging. The remote state monitoring subsystem served as an interface, giving target data to the robot via the wireless network. It also monitored the state of the robot in realtime, building up a map of the remote enviroment explored by the robot. Experimental results showed that this system performs well when exploring unknown environments.
References:
［1］GOLDBERG K, MASCHA M, GENTNER S, et al. Desktop teleoperation via the world wide web［C］//Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Nagoya, Japan: 1995: 654659.
［2］LEONARD J, DURRANTWHYTE H. Simultaneous map building and localization for an autonomous mobile robot［C］//Proceedings of the IEEE International Workshop on Intelligent Robots and Systems. Osaka, Japan: 1991: 14421447.
［3］DURRANTWHYTE H, BAILEY T. Simultaneous localization and mapping (SLAM): part I the essential algorithms［J］. Robotics and Automation Magazine, 2006, 13(2): 99110.
［4］SMITH R, SELF M, CHESSEMAN P. Estimating uncertain spatial relationships in robotics［C］//Proceedings of the IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 1987: 850.
［5］SMITH R, CHEESEMAN P. On the representation and estimation of spatial uncertainty［J］. The International Journal of Robotics Research, 1986, 5(4): 5668.
［6］CSORBA M. Simultaneous localization and map building［D］. Oxford: University of Oxford, 1997.
［7］DISSANAYAKE M W M G, NEWMAN P, CLARK S, et al. A solution to the simultaneous localization and map building (SLAM) problem［J］. IEEE Transactions on Robotics and Automation, 2001, 17 (3): 229241.
［8］CASTELLANOS J A, TARDOS J D. Mobile robot localization and map building: a multisensor fusion approach［J］. Automatica, 2003, 39(6): 11201121.
［9］THRUN S, BURGARD W, FOX D. A probabilistic approach to concurrent mapping and localization for mobile robots［J］. Machine Learning, 1998, 31(1/3): 2953.
［10］DEMPSTER A, LAIRD A, RUBIN D. Maximum likelihood from incomplete data via the EM algorithm［J］. Journal of the Royal Statistical Society： Series B (Methodological), 1997, 39(1): 138.
［11］BURGARD W, FOX D, JANS H, et al. Sonarbased mapping of largescale mobile robot environments using EM［C］//Proceedings of the 16th International Conference on Machine Learning. Bled, Slovenia: Morgan Kaufmann, 1999: 6776.
［12］THRUN S, BURGARD W, FOX D. A realtime algorithm for mobile robot mapping with application to multirobot and 3D mapping［C］//Proceedings of IEEE International Conference on Robotics and Automation. San Francisco, USA: IEEE, 2000: 321328.
［13］THRUN S, BEETZ M, BURGARD W, et al. Probabilistic algorithms and the interactive museum tourguided robot Minerva［J］. Journal of Robotics Research, 2000, 19(11): 9721000. 
［14］HANHEL D, SCHULZ D, BURGARD W. Mapping building with mobile robots in populated environments［C］//Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems. Lausanne, Switzerland: IEEE, 2002: 496501.
［15］MONTEMERLO M, THRUN S, KOLLER D, et al. FastSLAM: a factored solution to the simultaneous location and mapping problem［C］//Proceedings of the AAAI National Conference on Artificial Intelligence. Edmonton, Canada: AAAI, 2002: 593598.
［16］MONTEMERLO M, THRUN S, KOLLER D, et al. FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges［C］//Proceedings of the International Conference on Artificial Intelligence. Acapulco, Mexico: AAAI, 2003: 11511156.
［17］ARRAS K O, TOMATIS N, JENSEN B T, et al. Multisensor onthefly localization: precision and reliability for applications［J］. Robotics and Autonomous System, 2001, 34(2/3): 131143.
［18］JENSFELT P, KRISTENSEN S. Active global localization for a mobile robot using multiple hypothesis tracking［J］. IEEE Transactions on Robotics and Automation, 2001, 17(5): 748760.
［19］BORGES G A, ALDON M J. A splitandmerge segmentation algorithm for line extraction in 2D range images［C］//Proceedings of International Conference on Pattern Recognition. Barcelona, Spain: IEEE, 2000: 441444.
［20］JENSFELT P, CHRISTENSEN H. Laser based position acquisition and tracking in an indoor environment［C］//Proceedings of the International Symposium on Robotics and Automation. Saltillo, Coahuila, Mexico: IEEE, 1998: 331338.
［21］ULRICH I, BORENSTEIN J. VFH+: reliable obstacle avoidance for fast mobile robots［C］//Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium: IEEE, 1998: 15721577.
Similar References:

Memo

-

Last Update: 2010-07-14

Copyright © CAAI Transactions on Intelligent Systems