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Navigation system for mobile robots using PCA-based localization from ceiling depth images: experimental validation

2018-06Conference object Open access
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dc.contributor.authorCarreira, Fernando
dc.contributor.authorCalado, João Manuel Ferreira
dc.contributor.authorCardeira, Carlos
dc.contributor.authorOliveira, P.
dc.date.accessioned2019-02-01T14:42:29Z
dc.date.available2019-02-01T14:42:29Z
dc.date.issued2018-06
dc.descriptionEste trabalho foi financiado pelo Concurso Anual para Projetos de Investigação, Desenvolvimento, Inovação e Criação Artística (IDI&CA) 2017 do Instituto Politécnico de Lisboa. Código de referência IPL/2017/PROMPT2/ISEL
dc.description.abstractThis paper aims the experimental validation of a mobile robot navigation system, using self-localization based on principal component analysis (PCA) of ceiling depth images. In this approach, a roadmap based on generalized Voronoi diagram (GVD) is built from an occupancy grid, that is defined in the ceiling mapping to the PCA database. The system resorts to the Dijkstra algorithm to planning paths, using the GVD-based roadmap, from which a set of waypoints are extracted. During the mission, the robot is commanded by a controller based on self-located using only the information provided from ceiling depth images and other on-board sensors. The navigation system ensures that the robot reaches its destination, travelling along safety trajectories, while computing its pose with global stable estimates, from Kalman filters (KF). The navigation is achieved without the need to structure the environment, searching by specific features, and to linearize the model. The results are experimentally validated in an indoor environment, using a differential-drive mobile robot.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationCARREIRA, Fernando; [et al] – Navigation system for mobile robots using PCA-based localization from ceiling depth images: experimental validation. In CONTROLO 2018: 13th APCA International Conference on Automatic Control and Soft Computing. Ponta Delgada, Azores, Portugal: IEEE, 2018. ISBN 978-1-5386-5346-6. Pp. 159-164pt_PT
dc.identifier.isbn978-1-5386-5346-6
dc.identifier.urihttp://hdl.handle.net/10400.21/9389
dc.language.isoengpt_PT
dc.publisherInstitute of Electrical and Electronics Engineerspt_PT
dc.relationProjeto financiado no âmbito do Concurso de Projetos de Investigação, Desenvolvimento, Inovação & Criação Artística (IDI&CA) financiados pelo Instituto Politécnico de Lisboa. IPL/2017/PROMPT2/ISELpt_PT
dc.subjectIndoor navigationpt_PT
dc.subjectPrincipal component analysispt_PT
dc.subjectKalman filterspt_PT
dc.subjectGeneralized Voronoi diagrampt_PT
dc.subjectNavigation functionspt_PT
dc.titleNavigation system for mobile robots using PCA-based localization from ceiling depth images: experimental validationpt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/5876/UID%2FEMS%2F50022%2F2013/PT
oaire.citation.conferencePlaceJune 4-6, 2018 - Ponta Delgada, Azores, Portugalpt_PT
oaire.citation.endPage164pt_PT
oaire.citation.startPage159pt_PT
oaire.citation.titleCONTROLO 2018: 13th APCA International Conference on Automatic Control and Soft Computingpt_PT
oaire.fundingStream5876
person.familyNameNeves da Fonseca Cardoso Carreira
person.familyNameCalado
person.familyNameCardeira
person.familyNameOliveira
person.givenNameFernando Paulo
person.givenNameJoão
person.givenNameCarlos
person.givenNamePaulo
person.identifier370725
person.identifier1080709
person.identifier.ciencia-idD019-D006-510B
person.identifier.ciencia-idB518-93E3-E7AB
person.identifier.ciencia-id961C-A2E8-61CE
person.identifier.ciencia-id3F12-E17B-6D07
person.identifier.orcid0000-0002-9873-5050
person.identifier.orcid0000-0001-6628-4657
person.identifier.orcid0000-0002-7966-4648
person.identifier.orcid0000-0002-5799-390X
person.identifier.ridM-4167-2013
person.identifier.ridK-9502-2013
person.identifier.scopus-author-id7006897277
person.identifier.scopus-author-id6507855823
person.identifier.scopus-author-id55751743873
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
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