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Register a new userReal-Time Navigation System for a Low-Cost Mobile Robot with an RGB-D Camera
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Added by
Taekyung Kim
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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Currently, mobile robots are developing rapidly and are finding numerous applications in industry. However, there remain a number of problems related to their practical use, such as the need for expensive hardware and their high power consumption levels. In this study, we propose a navigation system that is operable on a low-end computer with an RGB-D camera and a mobile robot platform for the operation of an integrated autonomous driving system. The proposed system does not require LiDARs or a GPU. Our raw depth image ground segmentation approach extracts a traversability map for the safe driving of low-body mobile robots. It is designed to guarantee real-time performance on a low-cost commercial single board computer with integrated SLAM, global path planning, and motion planning. Running sensor data processing and other autonomous driving functions simultaneously, our navigation method performs rapidly at a refresh rate of 18Hz for control command, whereas other systems have slower refresh rates. Our method outperforms current state-of-the-art navigation approaches as shown in 3D simulation tests. In addition, we demonstrate the applicability of our mobile robot system through successful autonomous driving in a residential lobby.
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The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone delivery systems are of great interest as they may allow for faster and cheaper deliveries. This paper presents a navigation system that makes feasible the delivery of parcels with autonomous drones. The system generates a path between a start and a final point and controls the drone to follow this path based on its localization obtained through GPS, 9DoF IMU, and barometer. In the landing phase, information of poses estimated by a marker (ArUco) detection technique using a camera, ultra-wideband (UWB) devices, and the drones software estimation are merged by utilizing an Extended Kalman Filter algorithm to improve the landing precision. A vector field-based method controls the drone to follow the desired path smoothly, reducing vibrations or harsh movements that could harm the transported parcel. Real experiments validate the delivery strategy and allow to evaluate the performance of the adopted techniques. Preliminary results state the viability of our proposal for autonomous drone delivery.
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