Global navigation for ARK

ARK (Autonomous Robot for a Known environment), is a visually-guided mobile robot which is being constructed as part of the Precarn project in mobile robotics. ARK operates in a previously mapped environment and navigates with respect to visual landmarks that have been previously located. While the robot moves, it utilizes an active vision sensor to register the robot with respect to these landmarks. As the landmarks may be scarce in certain regions of its environment, ARK plans paths which minimize both path length and path uncertainty. The global path planner assumes that the robot will use a Kalman filter to integrate landmark information with odometry data to correct path deviations as the robot moves, and then uses this information to choose a path which reduces the expected path deviation.

Authors

• Michael Jenkin
• Evangelos E. Milios
• Piotr Jasiobedzki
• N. Bains
• K. Tran

Keywords

• Navigation
• Robot sensing systems
• Service robots
• Mobile robots
• Robot vision systems
• Path planning
• Remotely operated vehicles
• Manufacturing industries
• Computer science
• Infrared sensors
• Kalman Filter
• Active Sensors
• Industrial Environment
• Mobile Robot
• Odometry
• Landmark Detection
• Global Path
• Visual Landmarks
• Covariance Matrix
• Complex Environment
• Control Structure
• Line Segment
• Start Position
• Statistical Noise
• Position Uncertainty
• Least Squares Problem
• Measurement Matrix
• Beam Divergence
• Robot Navigation
• Laser Ranging
• Path Points
• Occupancy Grid
• Center Of The Room
• Goal Position
• Robot Localization
• Robot Path
• Orientation Of The Robot
• Cost Path
• Landmark Localization