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Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout

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.

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Abstract

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

Item Type: Book Section
Uncontrolled Keywords: LRF, vision system, odometry, laser simulator, road roundabout, road following, 2D map, local map
Subjects: T Technology > TG Bridge engineering
T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Dr. Mohammed Abdo Hashem
Date Deposited: 04 Jan 2019 08:44
Last Modified: 04 Jan 2019 08:44
URI: http://umpir.ump.edu.my/id/eprint/23437
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