Robot navigation

<h2 id="vision-based-navigation">Vision-based navigation</h2>
<p>Vision-based navigation or optical navigation uses <a href="/facts/Computer_vision/Tl2Yyk66">computer vision</a> algorithms and optical sensors, including laser-based <a href="/facts/Rangefinder/ACNYnqPa">range finder</a> and photometric cameras using <a href="/facts/Charge-coupled_device/l6xffIcz">CCD</a> arrays, to extract the <a href="/facts/Feature_(computer_vision)/GdfWRp5U">visual features</a> required to the localization in the surrounding environment. However, there are a range of techniques for navigation and localization using vision information, the main components of each technique are:
</p>
<ul><li>representations of the environment.</li>
<li>sensing models.</li>
<li>localization algorithms.</li></ul>
<p>In order to give an overview of vision-based navigation and its techniques, we classify these techniques under indoor navigation and outdoor navigation. 
</p>
<h3>Indoor navigation</h3>

<p>The easiest way of making a robot go to a goal location is simply to <i>guide</i> it to this location. This guidance can be done in different ways: burying an inductive loop or magnets in the floor, painting lines on the floor, or by placing beacons, markers, bar codes etc. in the environment. Such <a href="/facts/Automated_guided_vehicle/jl1XLtap"><i>Automated Guided Vehicles</i> (AGVs)</a> are used in industrial scenarios for transportation tasks. Indoor Navigation of Robots are possible by IMU based indoor positioning devices.<a class="footnote-ref" id="fnref:3" href="#fn:3"><sup>3</sup></a><a class="footnote-ref" id="fnref:4" href="#fn:4"><sup>4</sup></a>
</p><p>There are a very wider variety of indoor navigation systems. The basic reference of indoor and outdoor navigation systems is <a href="https://ieeexplore.ieee.org/document/982903">"Vision for mobile robot navigation: a survey"</a> by Guilherme N. DeSouza and Avinash C. Kak.
</p><p>Also see <a href="http://wwwhomes.doc.ic.ac.uk/~nd/surprise_97/journal/vol2/oh/">"Vision based positioning"</a> and AVM Navigator.
</p>
<h3>Autonomous Flight Controllers</h3>
<p>Typical Open Source Autonomous Flight Controllers have the ability to fly in full automatic mode and perform the following operations;
</p>
<ul><li>Take off from the ground and fly to a defined altitude</li>
<li>Fly to one or more waypoints</li>
<li>Orbit around a designated point</li>
<li>Return to the launch position</li>
<li>Descend at a specified speed and land the aircraft</li></ul>
<p>The onboard flight controller relies on GPS for navigation and stabilized flight, and often employ additional <a href="/facts/Satellite-based_augmentation_system/cNrjcVVv">Satellite-based augmentation systems</a> (SBAS) and altitude (barometric pressure) sensor.<a class="footnote-ref" id="fnref:5" href="#fn:5"><sup>5</sup></a>
</p>
<h2 id="inertial-navigation">Inertial navigation</h2>
<p>Some navigation systems for airborne robots are based on <a href="/facts/Inertial_sensor/IEsFdrtm">inertial sensors</a>.<a class="footnote-ref" id="fnref:6" href="#fn:6"><sup>6</sup></a>
</p>
<h2 id="acoustic-navigation">Acoustic navigation</h2>
<p><a href="/facts/Autonomous_underwater_vehicle/2v6GNzsz">Autonomous underwater vehicles</a> can be guided by <a href="/facts/Underwater_acoustic_positioning_system/WT955Umb">underwater acoustic positioning systems</a>.<a class="footnote-ref" id="fnref:7" href="#fn:7"><sup>7</sup></a> Navigation systems using <a href="/facts/Sonar/245ooRW7">sonar</a> have also been developed.<a class="footnote-ref" id="fnref:8" href="#fn:8"><sup>8</sup></a>
</p>
<h2 id="radio-navigation">Radio navigation</h2>
<p>Robots can also determine their positions using <a href="/facts/Radio_navigation/sRkrEaG9">radio navigation</a>.<a class="footnote-ref" id="fnref:9" href="#fn:9"><sup>9</sup></a>
</p>
<h2 id="see-also">See also</h2>
<ul><li><a href="/facts/Electronic_navigation/yXfKJqq4">Electronic navigation</a></li>
<li><a href="/facts/Location_awareness/BNHaFswz">Location awareness</a></li>
<li><a href="/facts/Vehicular_automation/hhmnmpcu">Vehicular automation</a></li></ul>

<h2 id="further-reading">Further reading</h2>
<ul><li>Desouza, G.N.; Kak, A.C. (2002). "Vision for mobile robot navigation: A survey". <i>IEEE Transactions on Pattern Analysis and Machine Intelligence</i>. 24 (2): 237–267. <a href="/facts/Doi_(identifier)/muM9Etpq">doi</a>:<a href="https://doi.org/10.1109%2F34.982903">10.1109/34.982903</a>.</li>
<li><a href="http://www.doc.ic.ac.uk/~nd/surprise_97/journal/vol4/jmd/">Mobile Robot Navigation</a> <a href="https://web.archive.org/web/20190405003146/http://www.doc.ic.ac.uk/~nd/surprise_97/journal/vol4/jmd/">Archived</a> 2019-04-05 at the <a href="/facts/Wayback_Machine/nmQ3a6JC">Wayback Machine</a> Jonathan Dixon, Oliver Henlich - 10 June 1997</li>
<li>BECKER, M.; DANTAS, Carolina Meirelles; MACEDO, Weber Perdigão, "<a href="https://web.archive.org/web/20131126163902/http://www.abcm.org.br/pt/wp-content/symposium-series/SSM_Vol2/Section_IV_Mobile_Robots/SSM2_IV_05.pdf">Obstacle Avoidance Procedure for Mobile Robots</a>". In: Paulo Eigi Miyagi; Oswaldo Horikawa; Emilia Villani. (Org.). <i>ABCM Symposium Series in Mechatronics</i>, Volume 2. 1 ed. São Paulo - SP: ABCM, 2006, v. 2, p. 250-257. <a href="/facts/ISBN_(identifier)/15AdSPa9">ISBN</a> 978-85-85769-26-0</li></ul>
<h2 id="external-links">External links</h2>
<ul><li><a href="https://web.archive.org/web/20101123151524/http://ikalogic.com/tut_line_sens_algo.php">line tracking sensors for robots and its algorithms</a></li></ul>

<h2 id="references">References</h2>

<ol>
<li id="fn:1"><p>Stachniss, Cyrill. "Robotic mapping and exploration." Vol. 55. Springer, 2009. <a href="https://books.google.nl/books?dq=Robotic+Mapping+and+Exploration&ots=mY66zOcyW2&sig=jtVaI6hBrohUnRf49v714zBn180#v=onepage&q=Robotic%20Mapping%20and%20Exploration" target="_blank">https://books.google.nl/books?dq=Robotic+Mapping+and+Exploration&ots=mY66zOcyW2&sig=jtVaI6hBrohUnRf49v714zBn180#v=onepage&q=Robotic%20Mapping%20and%20Exploration</a> <a href="#fnref:1" class="footnote-back-ref">↩</a></p></li>
<li id="fn:2"><p>Fuentes-Pacheco, Jorge, José Ruiz-Ascencio, and Juan Manuel Rendón-Mancha. "Visual simultaneous localization and mapping: a survey." Artificial Intelligence Review 43.1 (2015): 55-81. <a href="https://www.researchgate.net/profile/Jose_Ascencio/publication/234081012_Visual_Simultaneous_Localization_and_Mapping_A_Survey/links/55383e610cf247b8587d3d58/Visual-Simultaneous-Localization-and-Mapping-A-Survey.pdf" target="_blank">https://www.researchgate.net/profile/Jose_Ascencio/publication/234081012_Visual_Simultaneous_Localization_and_Mapping_A_Survey/links/55383e610cf247b8587d3d58/Visual-Simultaneous-Localization-and-Mapping-A-Survey.pdf</a> <a href="#fnref:2" class="footnote-back-ref">↩</a></p></li>
<li id="fn:3"><p>Chen, C.; Chai, W.; Nasir, A. K.; Roth, H. (April 2012). "Low cost IMU based indoor mobile robot navigation with the assist of odometry and Wi-Fi using dynamic constraints". Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium. pp. 1274–1279. doi:10.1109/PLANS.2012.6236984. ISBN 978-1-4673-0387-3. S2CID 19472012. <a href="978-1-4673-0387-3" target="_blank">978-1-4673-0387-3</a> <a href="#fnref:3" class="footnote-back-ref">↩</a></p></li>
<li id="fn:4"><p>GT Silicon (2017-01-07), An awesome robot with cool navigation and real-time monitoring, archived from the original on 2021-12-12, retrieved 2018-04-04 <a href="https://www.youtube.com/watch?v=c1bYfUYlVSo" target="_blank">https://www.youtube.com/watch?v=c1bYfUYlVSo</a> <a href="#fnref:4" class="footnote-back-ref">↩</a></p></li>
<li id="fn:5"><p>"Flying | AutoQuad". <a href="http://autoquad.org/wiki/wiki/configuring-autoquad-flightcontroller/flying/" target="_blank">http://autoquad.org/wiki/wiki/configuring-autoquad-flightcontroller/flying/</a> <a href="#fnref:5" class="footnote-back-ref">↩</a></p></li>
<li id="fn:6"><p>Bruno Siciliano; Oussama Khatib (20 May 2008). Springer Handbook of Robotics. Springer Science & Business Media. pp. 1020–. ISBN 978-3-540-23957-4. <a href="978-3-540-23957-4" target="_blank">978-3-540-23957-4</a> <a href="#fnref:6" class="footnote-back-ref">↩</a></p></li>
<li id="fn:7"><p>Mae L. Seto (9 December 2012). Marine Robot Autonomy. Springer Science & Business Media. pp. 35–. ISBN 978-1-4614-5659-9. <a href="978-1-4614-5659-9" target="_blank">978-1-4614-5659-9</a> <a href="#fnref:7" class="footnote-back-ref">↩</a></p></li>
<li id="fn:8"><p>John J. Leonard; Hugh F. Durrant-Whyte (6 December 2012). Directed Sonar Sensing for Mobile Robot Navigation. Springer Science & Business Media. ISBN 978-1-4615-3652-9. <a href="978-1-4615-3652-9" target="_blank">978-1-4615-3652-9</a> <a href="#fnref:8" class="footnote-back-ref">↩</a></p></li>
<li id="fn:9"><p>Oleg Sergiyenko (2019). Machine Vision and Navigation. Springer Nature. pp. 172–. ISBN 978-3-030-22587-2. <a href="978-3-030-22587-2" target="_blank">978-3-030-22587-2</a> <a href="#fnref:9" class="footnote-back-ref">↩</a></p></li>
</ol>

Robot navigation open-in-new

Robot navigation