Academic literature on the topic 'Data fusion algorithms; Mobile robots; AGV'

AbstractOne of the important issues in mobile robots is finding the position of robots in space. This is normally achieved by using a sensor to locate the position of the robot. However, relying on more than one sensor and then using multisenor data fusion algorithms tends to be more reliable than just using a reading from a single sensor. If these sensors provide inconsistent data, catastrophic fusion may occur, and thus the estimated position of the robot obtained will be less accurate than if an individual sensor is used. This article uses an approach that relies on combining modified Bayesian fusion algorithm with Kalman filtering to estimate the position of a mobile robot. Two case studies are presented to prove the efficiency of the proposed approach in estimating the position of a mobile robot. Both scenarios show that combining fusion with filtering provides an accurate estimate of the location of the robot by handling the problem of uncertainty and inconsistency of the data provided by the sensors.

Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of several different sensors such as LiDAR, radar, ultrasound sensors and cameras are utilized to sense the surrounding environment of autonomous vehicles. These heterogeneous sensors simultaneously capture various physical attributes of the environment. Such multimodality and redundancy of sensing need to be positively utilized for reliable and consistent perception of the environment through sensor data fusion. However, these multimodal sensor data streams are different from each other in many ways, such as temporal and spatial resolution, data format, and geometric alignment. For the subsequent perception algorithms to utilize the diversity offered by multimodal sensing, the data streams need to be spatially, geometrically and temporally aligned with each other. In this paper, we address the problem of fusing the outputs of a Light Detection and Ranging (LiDAR) scanner and a wide-angle monocular image sensor for free space detection. The outputs of LiDAR scanner and the image sensor are of different spatial resolutions and need to be aligned with each other. A geometrical model is used to spatially align the two sensor outputs, followed by a Gaussian Process (GP) regression-based resolution matching algorithm to interpolate the missing data with quantifiable uncertainty. The results indicate that the proposed sensor data fusion framework significantly aids the subsequent perception steps, as illustrated by the performance improvement of a uncertainty aware free space detection algorithm.

Advancement in depth-sensing technology has allowed mobile robots to visualize the surrounding environment in 3D models. Regardless of the sensing technology (i.e. active, passive, or laser-based), a complete system that integrates recent depth data in previous 3D models in real-time is done by employing Simultaneous Localization And Mapping (SLAM) algorithms followed by a 3D reconstruction engine. Unfortunately, both the SLAM algorithm and the 3D reconstruction engine are usually executed on a single computing device, making the whole system exceptionally costly and heavy and restricting the robot's mobility. This paper proposes a decentralized, modular reconstruction system capable of employing various sensors to facilitate online 3D reconstruction from a resource-limited mobile robot.

A real-time inertial navigation system (INS) for mobile miniature robots was proposed, which mainly consists of hardware platform and software system. Based on the principles of embedded system, and by use of MEMS-based inertial measurement units (IMU) and micro control units (MCU) including ARM and CPLD, a compact, low-power-consumption, low-cost, and universal real-time hardware platform was constructed for the navigation system. Besides, a μC/OS-II real-time operating system was transplanted for software developing, where all the algorithms of digital signal processing, data interpolation, navigation calculating were realized. Furthermore, a fuzzy system was designed for sensor data fusion so as to achieve accurate navigation. Finally, the MEMS-based INS was fully tested via experiments on a mobile miniature robot. Experiments results show that average error of the heading angle estimation is about 0.56%, average error of Attitude angle estimation is 2.57%, and the maximum error of plane position is about 10%, which indicates that this INS satisfies requirements of mobile miniature robots.

Due to the limitation of mobile robots’ understanding of the environment in local path planning tasks, the problems of local deadlock and path redundancy during planning exist in unknown and complex environments. In this paper, a novel algorithm based on the combination of a long short-term memory (LSTM) neural network, fuzzy logic control, and reinforcement learning is proposed, and uses the advantages of each algorithm to overcome the other’s shortcomings. First, a neural network model including LSTM units is designed for local path planning. Second, a low-dimensional input fuzzy logic control (FL) algorithm is used to collect training data, and a network model (LSTM_FT) is pretrained by transferring the learned method to learn the basic ability. Then, reinforcement learning is combined to learn new rules from the environments autonomously to better suit different scenarios. Finally, the fusion algorithm LSTM_FTR is simulated in static and dynamic environments, and compared to FL and LSTM_FT algorithms, respectively. Numerical simulations show that, compared to FL, LSTM_FTR can significantly improve decision-making efficiency, improve the success rate of path planning, and optimize the path length. Compared to the LSTM_FT, LSTM_FTR can improve the success rate and learn new rules.

Localization is one of the potential challenges for a mobile robot. Due to the inaccuracy of GPS systems in determining the location of the moving robot alongside weathering effects on sensors such as RGBs (e.g. rain and light-sensitivity(. This paper aims to improve the localization of mobile robots by combining the 3D LiDAR data with RGB-D images using deep learning algorithms. The proposed approach is to design an outdoor localization system. It is divided into three stages. The first stage is the training stage where 3D LiDAR scans the city and then reduces the dimensions of 3D LiDAR data to 2.5D image. This is based on PCA method where these data are used as training data. The second stage is the testing data stage. RGB and depth image in IHS method are combined to generate 2.5D fusion image. The training and testing of these datasets are based on using Convolution Neural Network. The third stage consists of using the K-Nearest Neighbor algorithm. This is the classification stage to get high accuracy and reduces the training time. The experimental results obtained prove the superiorly of the proposed approach with accuracy up to 97.52%, Mean Square of Error of 0.057568, and Mean error in distance equals 0.804 meters.

This special issue presents seven papers that are revised and expanded versions of papers presented at the 2nd International Conference on "Modeling Decisions for Artificial Intelligence" (MDAI). This conference, that took place in Tsukuba (Japan) in July 2005, was the second of the series of MDAI conferences that were initiated in 2004 in Barcelona (Catalonia, Spain). In April 2006, the third edition was held in Tarragona (Catalonia, Spain) and the fourth one is planned in Kitakyushu (Japan) in August 2007. These series of conferences were initiated to foster the use of decision related tools as well as information fusion technologies within artificial intelligence applications. In this issue, we present enhanced version of seven papers presented in the conference. The first paper describes a tool that uses fuzzy logic and neural networks for assigning a treatment to rheumatism. The selection of the appropriate treatment follows oriental medicine. The second paper by Wanyama and Far describes a tool for trade-off analysis to be used in those situations related with decision making in which there is no dominant solution. The third paper is devoted to autonomous mobile robots. The authors describe a multi-layered fuzzy control system for the self-localization of the robot. Two papers devoted to fuzzy clustering follow in this issue. First, one that presents a regularization approach with nonlinear membership weights. One of the proposed methods makes not only possible to perform attraction of data to clusters but also repulsion between different clusters. The second paper on clustering proposes the simultaneous application of homogeneity analysis and fuzzy clustering through the consideration of an appropriate objective function that includes two types of memberships. The sixth paper presents a tool for e-mail classification. The tool brings the name of FIS-CRM that stands for Fuzzy Interrelations and Synonymy Conceptual Representation Model. The issue finishes with a paper on meta-heuristic algorithms for a class of container loading problems. To finish this introduction, we would like to thank the referees for their work on the review process as well as to thank Prof. Hirota, Editor-in-Chief of this journal, for providing us with the opportunity to edit this special issue. The help of Kazuki Ohmori and Kenta Uchino from Fuji Technology Press Ltd. is also acknowledged.

Rapid urbanization rates impact significantly on the nature of Land Cover patterns of the environment, which has been evident in the depletion of vegetal reserves and in general modifying the human climatic systems (Henderson, et al., 2017; Kumar, Masago, Mishra, & Fukushi, 2018; Luo and Lau, 2017). This study explores remote sensing classification technique and other auxiliary data to determine LULCC for a period of 50 years (1967-2016). The LULCC types identified were quantitatively evaluated using the change detection approach from results of maximum likelihood classification algorithm in GIS. Accuracy assessment results were evaluated and found to be between 56 to 98 percent of the LULC classification. The change detection analysis revealed change in the LULC types in Minna from 1976 to 2016. Built-up area increases from 74.82ha in 1976 to 116.58ha in 2016. Farmlands increased from 2.23 ha to 46.45ha and bared surface increases from 120.00ha to 161.31ha between 1976 to 2016 resulting to decline in vegetation, water body, and wetlands. The Decade of rapid urbanization was found to coincide with the period of increased Public Private Partnership Agreement (PPPA). Increase in farmlands was due to the adoption of urban agriculture which has influence on food security and the environmental sustainability. The observed increase in built up areas, farmlands and bare surfaces has substantially led to reduction in vegetation and water bodies. The oscillatory nature of water bodies LULCC which was not particularly consistent with the rates of urbanization also suggests that beyond the urbanization process, other factors may influence the LULCC of water bodies in urban settlements. Keywords: Minna, Niger State, Remote Sensing, Land Surface Characteristics References Akinrinmade, A., Ibrahim, K., & Abdurrahman, A. (2012). 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In this paper, a generic multi-sensor fusion framework is developed for the localization of intelligent vehicles and mobile robots. The localization framework is based on moving horizon estimation (MHE). Unlike the commonly used probabilistic filtering algorithms – for example, extended Kalman filter (EKF) and unscented Kalman filter (UKF) – MHE relies on solving successive least squares optimization problems over the innovation of multiple sensors’ measurements and a specific estimation horizon. In this paper, we present an efficient and generic multi-sensor fusion scheme, based on MHE. The proposed multi-sensor fusion scheme is capable of operating with different sensors’ rates, missing measurements, and outliers. Moreover, the proposed scheme is based on a multi-threading architecture to reduce its computational cost, making it more feasible for practical applications. The MHE fusion method is tested using simulated data as well as real experimental data sequences from an intelligent vehicle and a mobile robot combining measurements from different sensors to get accurate localization results. The performance of MHE is compared against that of UKF, where the MHE estimation results show superior performance.

On étudie dans cette thèse des méthodes de localisation coopérative de robots mobiles sans utilisation de mesures extéroceptives relatives, comme des angles ou des distances entre robots. Les systèmes de localisation considérés sont basés sur des mesures de radionavigation sur des balises fixes ou des satellites. Pour ces systèmes, on observe en général un écart entre la position observée et la position réelle. Cet écart systématique (appelé biais) peut être dû à une mauvaise position de la balise ou à une différence entre la propagation réelles des ondes électromagnétiques par rapport aux conditions standard utilisées pour établir les modèles d’observation. L’influence de ce biais sur la localisation des robots est non négligeable. La coopération et l’échange de données entre les robots (estimations des biais, estimations des positions et données proprioceptives) est une approche qui permet de corriger ces erreurs systématiques. La localisation coopérative par échange des estimations est sujette aux problèmes de consanguinité des données qui peuvent engendrer des résultats erronés, en particulier trop confiants. Lorsque les estimations sont utilisées pour la navigation autonome à l’approche, on doit éviter tout risque de collision qui peut mettre en jeu la sécurité des robots et des personnes aux alentours. On doit donc avoir recours à un mécanisme d’intégrité vérifiant que l’erreur commise reste inférieure à une erreur maximale tolérable pour la mission. Dans un tel contexte, il est nécessaire de caractériser des domaines de confiance fiables contenant les positions des robots mobiles avec une forte probabilité. L’utilisation des méthodes ensemblistes à erreurs bornées est considérée alors comme une solution efficace. En effet, ce type d’approche résout naturellement le problème de consanguinité des données et fournit des domaines de confiance fiables. De surcroît, l’utilisation de modèles non-linéaires ne pose aucun problème de linéarisation. Après avoir modélisé un système coopératif de nr robots avec des mesures biaisées sur des balises, une étude d’observabilité est conduite. Deux cas sont considérés selon la nature des mesures brutes des observations. En outre, des conditions d’observabilité sont démontrées. Un algorithme ensembliste de localisation coopérative est ensuite présenté. Les méthodes considérées sont basées sur la propagation de contraintes sur des intervalles et l’inversion ensembliste. La coopération est effectuée grâce au partage des positions estimées, des biais estimés et des mesures proprioceptives.L’échange des estimations de biais permet de réduire les incertitudes sur les positions des robots. Dans un cadre d’étude simple, la faisabilité de l’algorithme est évaluée grâce à des simulations de mesures de distances sur balises en utilisant plusieurs robots. La coopération est comparée aux méthodes non coopératives. L’algorithme coopératif ensembliste est ensuite testé sur des données réelles en utilisant deux véhicules. Les performances de la méthode ensembliste coopérative sont enfin comparées avec deux méthodes Bayésiennes séquentielles, notamment une avec fusion par intersection de covariance. La comparaison est conduite en termes d’exactitude et d’incertitude
In this work, we study some cooperative localization issues for mobile robotic systems that interact with each other without using relative measurements (e.g. bearing and relative distances). The considered localization technologies are based on beacons or satellites that provide radio-navigation measurements. Such systems often lead to offsets between real and observed positions. These systematic offsets (i.e, biases) are often due to inaccurate beacon positions, or differences between the real electromagnetic waves propagation and the observation models. The impact of these biases on robots localization should not be neglected. Cooperation and data exchange (estimates of biases, estimates of positions and proprioceptive measurements) reduce significantly systematic errors. However, cooperative localization based on sharing estimates is subject to data incest problems (i.e, reuse of identical information in the fusion process) that often lead to over-convergence problems. When position information is used in a safety-critical context (e.g. close navigation of autonomous robots), one should check the consistency of the localization estimates. In this context, we aim at characterizing reliable confidence domains that contain robots positions with high reliability. Hence, set-membership methods are considered as efficient solutions. This kind of approach enables merging adequately the information even when it is reused several time. It also provides reliable domains. Moreover, the use of non-linear models does not require any linearization. The modeling of a cooperative system of nr robots with biased beacons measurements is firstly presented. Then, we perform an observability study. Two cases regarding the localization technology are considered. Observability conditions are identified and demonstrated. We then propose a set-membership method for cooperativelocalization. Cooperation is performed by sharing estimated positions, estimated biases and proprioceptive measurements. Sharing biases estimates allows to reduce the estimation error and the uncertainty of the robots positions. The algorithm feasibility is validated through simulation when the observations are beacons distance measurements with several robots. The cooperation provides better performance compared to a non-cooperative method. Afterwards, the cooperative algorithm based on set-membership method is tested using real data with two experimental vehicles. Finally, we compare the interval method performance with a sequential Bayesian approach based on covariance intersection. Experimental results indicate that the interval approach provides more accurate positions of the vehicles with smaller confidence domains that remain reliable. Indeed, the comparison is performed in terms of accuracy and uncertainty

Abstract This paper describes the implementation of various algorithms to control the distance between a lead vehicle and a following (ego) vehicle. The ego robot equipped with a monocular camera and a rotating laser sensor (LDS). The monocular camera used for object detection using the Aggregate Channel Features (ACF) detection algorithm. The width of the bounding box generated by the detection algorithm had used to determine the distance between the lead and the following vehicles. Since this research focused on longitudinal autonomy, the data from the rotating laser sensor downsampled from 360 points to 30 points. These sampled points covered the front view of the vehicle. All data points transformed into a planar world coordinate (two-dimensional plane). The outputs of the camera and laser sensor (LDS) were fused to obtain accurate distance measurements for the lead vehicle. Sensor calibration had achieved by comparing sensor data with the ground truth values. Kalman Filter was used to implementing sensor fusion by combining perception data from the monocular camera and LDS for accurate position and velocity estimation. This calibration provided information about the sensor noise and deviation of sensor data from its ground truth values. These values helped to determine the error covariance matrixes of the Kalman filter. For implementation, the Robot Operating System (ROS)-MATLAB platform used to communicate between robot and host Personal Computer (PC). The experiments evaluated the performance of Proportional Control (P), Proportional-Integral Control (PI), and Model Predictive Control (MPC) in maintaining a minimum distance between the vehicles. For the MPC implementation in MATLAB, Model Predictive Control Quadratic Programming (MPCQP) solver was used to get the optimal solution for control output. The results show that the MPC yields faster response times when compared to P control and PI control. These algorithms evaluated during constant velocity and constant acceleration of the lead vehicle. The steady-state errors of P and PI controllers were around 0.1 meters (m) in both scenarios and 0 to 0.2m for constant velocity and 0 to 0.15m for ramp velocity, respectively. And for MPC, steady-state error varied from −0.05m to 0.05m in both the scenarios. This range in steady-state error was due to varying speed of the ego vehicle with time to maintain the minimum relative distance between the robots, and there was a communication delay in the system that also affected the behavior of the controllers. The MPC was more sensitive to communication delays. However, the effect of this communication delay was negligible to P and PI controllers. This sensitivity resulted in different velocity profiles for the ego vehicle in MPC and P or PI controllers.

Wireless sensor networks (WSN) have tremendous potential in many environmental and structural health monitoring applications including, gas, temperature, pressure and humidity monitoring, motion detection, and hazardous materials detection. Recent advances in CMOS-technology, IC manufacturing, and networking utilizing Bluetooth communications have brought down the total power requirements of wireless sensor nodes to as low as a few hundred microwatts. Such nodes can be used in future dense ad-hoc networks by transmitting data 1 to 10 meters away. For communication outside 10 meter ranges, data must be transmitted in a multi-hop fashion. There are significant implications to replacing large transmission distance WSN with multiple low-power, low-cost WSN. In addition, some of the relay nodes could be mounted on mobile robotic vehicles instead of being stationary, thus increasing the fault tolerance, coverage and bandwidth capacity of the network. The foremost challenge in the implementation of a dense sensor network is managing power consumption for a large number of nodes. The traditional use of batteries to power sensor nodes is simply not scalable to dense networks, and is currently the most significant barrier for many applications. Self-powering of sensor nodes can be achieved by developing a smart architecture which utilizes all the environmental resources available for generating electrical power. These resources can be structural vibrations, wind, magnetic fields, light, sound, temperature gradients and water currents. The generated electric energy is stored in the matching media selected by the microprocessor depending upon the power magnitude and output impedance. The stored electrical energy is supplied on demand to the sensors and communications devices. This paper shows the progress in our laboratory on powering stationary and mobile untethered sensors using a fusion of energy harvesting approaches. It illustrates the prototype hardware and software required for their implementation including MEMS pressure and strain sensors mounted on mobile robots or stationary, power harvesting modules, interface circuits, algorithms for interrogating the sensor, wireless data transfer and recording.