Sensor Based Mobile Navigation Using Humanoid Robot Nao
This project presents a new approach of humanoid-operated 4-wheeled mobile platform. The robot used in this work is Nao by Aldebaran Robotics. Nao is chosen because of its versatility. Its wide range of movements allows it to perform various tasks such as steering through a simple programming algori...
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| Veröffentlicht in: | Procedia computer science Jg. 76; S. 474 - 479 |
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| Format: | Journal Article |
| Sprache: | Englisch |
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Elsevier B.V
2015
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| ISSN: | 1877-0509, 1877-0509 |
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| Abstract | This project presents a new approach of humanoid-operated 4-wheeled mobile platform. The robot used in this work is Nao by Aldebaran Robotics. Nao is chosen because of its versatility. Its wide range of movements allows it to perform various tasks such as steering through a simple programming algorithm. Arduino microcontroller target board is used to provide the interface between Nao robot and the mobile platform whilst humanoid robot NAO act as the main processing unit for the whole system. This project consists of several parts. This paper focuses in the development of a sensing system, integration of Arduino microcontroller programming with Nao's Choregraphe and navigation with obstacle avoidance. Several tests has been done to determine the best initial setting to the overall system. The implementation of sensing system in the mobile platform shows very good result as the platform able to avoid obstacles while navigating. |
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| AbstractList | This project presents a new approach of humanoid-operated 4-wheeled mobile platform. The robot used in this work is Nao by Aldebaran Robotics. Nao is chosen because of its versatility. Its wide range of movements allows it to perform various tasks such as steering through a simple programming algorithm. Arduino microcontroller target board is used to provide the interface between Nao robot and the mobile platform whilst humanoid robot NAO act as the main processing unit for the whole system. This project consists of several parts. This paper focuses in the development of a sensing system, integration of Arduino microcontroller programming with Nao's Choregraphe and navigation with obstacle avoidance. Several tests has been done to determine the best initial setting to the overall system. The implementation of sensing system in the mobile platform shows very good result as the platform able to avoid obstacles while navigating. |
| Author | Amin, Adam Tan Mohd Mohamed, Zulkifli Ariffin, Ilmi Mohd Rasidi, Ahmad Ismat Hakam Mohamed Yussof, Hanafiah Omar, Abdul Rahman Miskam, Mohd Azfar |
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| Cites_doi | 10.1109/ISCE.2014.6884335 10.1109/EIT.2013.6632687 10.1109/HUMANOIDS.2013.7029995 10.1109/IROS.2011.6094533 10.1109/IROS.2006.281674 10.1109/IFIC.2000.859830 10.1109/IROS.2013.6696731 10.1109/MWSCAS.2012.6292082 |
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| Keywords | Mobile Platform Navigation Humanoid Infrared sensor |
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| References | 2011, pp. 4844-4849. K. Yelamarthi, S. Sherbrook, J. Beckwith, M. Williams, and R. Lefief, “An RFID based autonomous indoor tour guide robot,” H. D. Eom and J. W. Jeon, “Environment Map Building using Low-Cost IR sensors and a Servo Motor for Mobile Robot,” in S. Oßwald, A. Görög, A. Hornung, and M. Bennewitz, “Autonomous climbing of spiral staircases with humanoids,” in pp. 814-819, 2006. S. Lee, “Rotating IR Sensor System for 2.5 D Sensing,” 2014, pp. 2-3. L. George and A. Mazel, “Humanoid Robot Indoor Navigation Based on 2D Bar Codes: Application to the NAO Robot,” in B. Olszewski, S. Fenton, B. Tworek, J. Liang, and K. Yelamarthi, “RFID positioning robot: An indoor navigation system,” 2009. pp. 562-565, 2012. Arvind (bib0055) 2013; 4 D. Migliore, R. Rigamonti, D. Marzorati, M. Matteucci, and D. G. Sorrenti, “Use a Single Camera for Simultaneous Localization And Mapping with Mobile Object Tracking in dynamic environments,” H. Martínez Barberá, a. Gómez Skarmeta, M. Zamora Izquierdo, and J. Botía Blaya, “Neural networks for sonar and infrared sensors fusion,” Proc. 3rd Int. Conf. Inf. Fusion, FUSION 2000, vol. 2, pp. 18-25, 2000. K. H. D. Kim and J. Ha, “Localization of Mobile Robot using Laser Range Finder and IR Landmark,” in 12th International Conference on Control, Automation and Systems (ICCAS), 2012, 2012, pp. 459-461. D. Maier, C. Lutz, and M. Bennewitz, “Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles,” 2013. pp. 2658-2664, 2013. 2013, vol. 2013. 10.1016/j.procs.2015.12.319_bib0010 10.1016/j.procs.2015.12.319_bib0045 10.1016/j.procs.2015.12.319_bib0035 10.1016/j.procs.2015.12.319_bib0050 10.1016/j.procs.2015.12.319_bib0040 10.1016/j.procs.2015.12.319_bib0030 10.1016/j.procs.2015.12.319_bib0020 10.1016/j.procs.2015.12.319_bib0025 10.1016/j.procs.2015.12.319_bib0015 Arvind (10.1016/j.procs.2015.12.319_bib0055) 2013; 4 10.1016/j.procs.2015.12.319_bib0005 |
| References_xml | – reference: , pp. 562-565, 2012. – reference: , 2011, pp. 4844-4849. – reference: K. Yelamarthi, S. Sherbrook, J. Beckwith, M. Williams, and R. Lefief, “An RFID based autonomous indoor tour guide robot,” – reference: , 2014, pp. 2-3. – reference: S. Oßwald, A. Görög, A. Hornung, and M. Bennewitz, “Autonomous climbing of spiral staircases with humanoids,” in – reference: H. Martínez Barberá, a. Gómez Skarmeta, M. Zamora Izquierdo, and J. Botía Blaya, “Neural networks for sonar and infrared sensors fusion,” Proc. 3rd Int. Conf. Inf. Fusion, FUSION 2000, vol. 2, pp. 18-25, 2000. – reference: H. D. Eom and J. W. Jeon, “Environment Map Building using Low-Cost IR sensors and a Servo Motor for Mobile Robot,” in – volume: 4 start-page: 2177 year: 2013 end-page: 2184 ident: bib0055 article-title: Optimizing the turning radius of a vehicle using symmetric four wheel steering system publication-title: Int. J. Sci. Eng. Res. – reference: L. George and A. Mazel, “Humanoid Robot Indoor Navigation Based on 2D Bar Codes: Application to the NAO Robot,” in – reference: , 2013, vol. 2013. – reference: B. Olszewski, S. Fenton, B. Tworek, J. Liang, and K. Yelamarthi, “RFID positioning robot: An indoor navigation system,” – reference: , 2009. – reference: S. Lee, “Rotating IR Sensor System for 2.5 D Sensing,” – reference: , 2013. – reference: D. Maier, C. Lutz, and M. Bennewitz, “Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles,” – reference: , pp. 2658-2664, 2013. – reference: D. Migliore, R. Rigamonti, D. Marzorati, M. Matteucci, and D. G. Sorrenti, “Use a Single Camera for Simultaneous Localization And Mapping with Mobile Object Tracking in dynamic environments,” – reference: , pp. 814-819, 2006. – reference: K. H. D. Kim and J. Ha, “Localization of Mobile Robot using Laser Range Finder and IR Landmark,” in 12th International Conference on Control, Automation and Systems (ICCAS), 2012, 2012, pp. 459-461. – ident: 10.1016/j.procs.2015.12.319_bib0015 doi: 10.1109/ISCE.2014.6884335 – ident: 10.1016/j.procs.2015.12.319_bib0050 – ident: 10.1016/j.procs.2015.12.319_bib0020 doi: 10.1109/EIT.2013.6632687 – ident: 10.1016/j.procs.2015.12.319_bib0010 doi: 10.1109/HUMANOIDS.2013.7029995 – ident: 10.1016/j.procs.2015.12.319_bib0025 doi: 10.1109/IROS.2011.6094533 – ident: 10.1016/j.procs.2015.12.319_bib0035 doi: 10.1109/IROS.2006.281674 – ident: 10.1016/j.procs.2015.12.319_bib0045 doi: 10.1109/IFIC.2000.859830 – ident: 10.1016/j.procs.2015.12.319_bib0030 doi: 10.1109/IROS.2013.6696731 – ident: 10.1016/j.procs.2015.12.319_bib0005 doi: 10.1109/MWSCAS.2012.6292082 – volume: 4 start-page: 2177 issue: 12 year: 2013 ident: 10.1016/j.procs.2015.12.319_bib0055 article-title: Optimizing the turning radius of a vehicle using symmetric four wheel steering system publication-title: Int. J. Sci. Eng. Res. – ident: 10.1016/j.procs.2015.12.319_bib0040 |
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| Title | Sensor Based Mobile Navigation Using Humanoid Robot Nao |
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