DocumentCode :
1730118
Title :
The navigation mobile robot systems using Bayesian approach through the virtual projection method
Author :
Vladareanu, Luige ; Tont, Gabriela ; Vladareanu, Victor ; Smarandache, Florentin ; Capitanu, Lucian
Author_Institution :
Robot. & Mechatron. Dept., Inst. of Solid Mech., Bucharest, Romania
fYear :
2012
Firstpage :
498
Lastpage :
503
Abstract :
The paper presents the navigation mobile walking robot systems for movement in non-stationary and non-structured environments, using a Bayesian approach of Simultaneous Localization and Mapping (SLAM) for avoiding obstacles and dynamical stability control for motion on rough terrain. By processing inertial information of force, torque, tilting and wireless sensor networks (WSN) an intelligent high level algorithm is implementing using the virtual projection method. The control system architecture for the dynamic robot walking is presented in correlation with a stochastic model of assessing system probability of unidirectional or bidirectional transition states, applying the non-homogeneous/non-stationary Markov chains. The rationality and validity of the proposed model are demonstrated via an example of quantitative assessment of states probabilities of an autonomous robot. The results show that the proposed new navigation strategy of the mobile robot using Bayesian approach walking robot control systems for going around obstacles has increased the robot´s mobility and stability in workspace.
Keywords :
Markov processes; SLAM (robots); collision avoidance; mobile robots; motion control; navigation; robot dynamics; stability; Bayesian approach; SLAM; WSN; autonomous robot; bidirectional transition states; control system architecture; dynamic robot walking; dynamical stability control; force; inertial information processing; intelligent high level algorithm; motion control; navigation mobile walking robot systems; nonhomogeneous-nonstationary Markov chains; nonstationary environments; nonstructured environments; obstacle avoidance; quantitative assessment; rough terrain; simultaneous localization and mapping; states probabilities; stochastic model; tilting; torque; unidirectional transition states; virtual projection method; wireless sensor networks; Bayesian methods; Computational modeling; Information technology; Legged locomotion; Optimization; Wireless sensor networks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Mechatronic Systems (ICAMechS), 2012 International Conference on
Conference_Location :
Tokyo
ISSN :
1756-8412
Print_ISBN :
978-1-4673-1962-1
Type :
conf
Filename :
6329631
Link To Document :
بازگشت