Robot localization denotes the robot's ability to establish its own position and orientation within theframe of reference.Path planning is effectively an extension of localization, in that it requires the determination of the robot's current position and a position of a goal location, both within the same frame of reference or coordinates. Map building can be in the shape of a metric map or any notation describing locations in the robot frame of reference.[citation needed]
For any mobile device, the ability to navigate in its environment is important. Avoiding dangerous situations such as collisions and unsafe conditions (temperature, radiation, exposure to weather, etc.) comes first, but if the robot has a purpose that relates to specific places in the robot environment, it must find those places.This article will present an overview of the skill of navigation and try to identify the basic blocks of a robotnavigation system, types of navigation systems, and closer look at its related building components.
Robot navigation means the robot's ability to determine its own position in itsframe of reference and then to plan a path towards some goal location. In order to navigate in its environment, the robot or any other mobility device requires representation, i.e. a map of the environment and the ability tointerpret that representation.
Navigation can be defined as the combination of the three fundamental competences:[1]
Some robot navigation systems usesimultaneous localization and mapping to generate3D reconstructions of their surroundings.[2]
Vision-based navigation or optical navigation usescomputer vision algorithms and optical sensors, including laser-basedrange finder and photometric cameras usingCCD arrays, to extract thevisual features required to the localization in the surrounding environment. However, there are a range of techniques for navigation and localization using vision information, the main components of each technique are:
In order to give an overview of vision-based navigation and its techniques, we classify these techniques underindoor navigation andoutdoor navigation.
The easiest way of making a robot go to a goal location is simply toguide it to this location. This guidance can be done in different ways: burying an inductive loop or magnets in the floor, painting lines on the floor, or by placing beacons, markers, bar codes etc. in the environment. SuchAutomated Guided Vehicles (AGVs) are used in industrial scenarios for transportation tasks. Indoor Navigation of Robots are possible by IMU based indoor positioning devices.[3][4]
There are a very wider variety of indoor navigation systems. The basic reference of indoor and outdoor navigation systems is"Vision for mobile robot navigation: a survey" by Guilherme N. DeSouza and Avinash C. Kak.
Also see"Vision based positioning" and AVM Navigator.
Typical Open Source Autonomous Flight Controllers have the ability to fly in full automatic mode and perform the following operations;
The onboard flight controller relies on GPS for navigation and stabilized flight, and often employ additionalSatellite-based augmentation systems (SBAS) and altitude (barometric pressure) sensor.[5]
Some navigation systems for airborne robots are based oninertial sensors.[6]
Autonomous underwater vehicles can be guided byunderwater acoustic positioning systems.[7] Navigation systems usingsonar have also been developed.[8]
Robots can also determine their positions usingradio navigation.[9]
| Main articles |  | |
|---|---|---|
| Types | ||
| Classifications | ||
| Locomotion | ||
| Navigation andmapping | ||
| Research | ||
| Companies | ||
| Related | ||
