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Visual simultaneous localisation and map-building supported by structured landmarks

100%
Bączyk R., Kasiński A.
International Journal of Applied Mathematics and Computer Science
|
2010
|
tom 20
|
nr 2
281-293
EN
Visual simultaneous localisation and map-building systems which take advantage of some landmarks other than point-wise environment features are not frequently reported. In the following paper the method of using the operational map of robot surrounding, which is complemented with visible structured passive landmarks, is described. These landmarks are used to improve self-localisation accuracy of the robot camera and to reduce the size of the Kalman-filter state-vector with respect to the vector size involving point-wise environment features only. Structured landmarks reduce the drift of the camera pose estimate and improve the reliability of the map which is built on-line. Results of simulation experiments are described, proving advantages of such an approach.
2
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Modeling and control of a 4-wheel skid-steering mobile robot

88%
Kozłowski K., Pazderski D.
International Journal of Applied Mathematics and Computer Science
|
2004
|
tom 14
|
nr 4
477-496
EN
A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.
3
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Uncertainty models of vision sensors in mobile robot positioning

75%
Skrzypczyński P.
International Journal of Applied Mathematics and Computer Science
|
2005
|
tom 15
|
nr 1
73-88
EN
This paper discusses how uncertainty models of vision-based positioning sensors can be used to support the planning and optimization of positioning actions for mobile robots. Two sensor types are considered: a global vision with overhead cameras, and an on-board camera observing artificial landmarks. The developed sensor models are applied to optimize robot positioning actions in a distributed system of mobile robots and monitoring sensors, and to plan the sequence of actions for a robot cooperating with the external infrastructure supporting its navigation.
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