Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout
A road mapping and feature extraction for mobile robot navigation in road roundabout and road following environments is presented in this chapter. In this work, the online mapping of mobile robot employing the utilization of sensor fusion technique is used to extract the road characteristics that wi...
| Main Authors: | , |
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| Format: | Book Chapter |
| Language: | English |
| Published: |
IntechOpen
2018
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/23437/1/MOBILE%20ROBOT%20CHAPTER.pdf |
| _version_ | 1796993105705041920 |
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| author | Ali, Mohammed A. H. Mailah, Musa |
| author_facet | Ali, Mohammed A. H. Mailah, Musa |
| author_sort | Ali, Mohammed A. H. |
| collection | UMP |
| description | A road mapping and feature extraction for mobile robot navigation in road roundabout and road following environments is presented in this chapter. In this work, the online mapping of mobile robot employing the utilization of sensor fusion technique is used to extract the road characteristics that will be used with path planning algorithm to enable the robot to move from a certain start position to predetermined goal, such as road curbs, road borders, and roundabout. The sensor fusion is performed using many sensors, namely, laser range finder, camera, and odometry, which are combined on a new wheeled mobile robot prototype to determine the best optimum path of the robot and localize it within its environments. The local maps are developed using an image’s preprocessing and processing algorithms and an artificial threshold of LRF signal processing to recognize the road environment parameters such as road curbs, width, and roundabout. The path planning in the road environments is accomplished using a novel approach so called Laser Simulator to find the trajectory in the local maps developed by sensor fusion. Results show the capability of the wheeled mobile robot to effectively recognize the road
environments, build a local mapping, and find the path in both road following and roundabout |
| first_indexed | 2024-03-06T12:29:15Z |
| format | Book Chapter |
| id | UMPir23437 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:29:15Z |
| publishDate | 2018 |
| publisher | IntechOpen |
| record_format | dspace |
| spelling | UMPir234372019-01-04T08:44:54Z http://umpir.ump.edu.my/id/eprint/23437/ Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout Ali, Mohammed A. H. Mailah, Musa TG Bridge engineering TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering A road mapping and feature extraction for mobile robot navigation in road roundabout and road following environments is presented in this chapter. In this work, the online mapping of mobile robot employing the utilization of sensor fusion technique is used to extract the road characteristics that will be used with path planning algorithm to enable the robot to move from a certain start position to predetermined goal, such as road curbs, road borders, and roundabout. The sensor fusion is performed using many sensors, namely, laser range finder, camera, and odometry, which are combined on a new wheeled mobile robot prototype to determine the best optimum path of the robot and localize it within its environments. The local maps are developed using an image’s preprocessing and processing algorithms and an artificial threshold of LRF signal processing to recognize the road environment parameters such as road curbs, width, and roundabout. The path planning in the road environments is accomplished using a novel approach so called Laser Simulator to find the trajectory in the local maps developed by sensor fusion. Results show the capability of the wheeled mobile robot to effectively recognize the road environments, build a local mapping, and find the path in both road following and roundabout IntechOpen 2018-11 Book Chapter PeerReviewed pdf en cc_by http://umpir.ump.edu.my/id/eprint/23437/1/MOBILE%20ROBOT%20CHAPTER.pdf Ali, Mohammed A. H. and Mailah, Musa (2018) Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout. In: Mobile Robots. IntechOpen, pp. 1-23. https://doi.org/10.5772/intechopen.79412 https://doi.org/10.5772/intechopen.79412 |
| spellingShingle | TG Bridge engineering TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Ali, Mohammed A. H. Mailah, Musa Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout |
| title | Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout |
| title_full | Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout |
| title_fullStr | Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout |
| title_full_unstemmed | Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout |
| title_short | Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout |
| title_sort | online mapping based navigation system for wheeled mobile robot in road following and roundabout |
| topic | TG Bridge engineering TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/23437/1/MOBILE%20ROBOT%20CHAPTER.pdf |
| work_keys_str_mv | AT alimohammedah onlinemappingbasednavigationsystemforwheeledmobilerobotinroadfollowingandroundabout AT mailahmusa onlinemappingbasednavigationsystemforwheeledmobilerobotinroadfollowingandroundabout |