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Robot localization denotes the robot's ability to establish its own position and orientation within the
frame of reference In physics and astronomy, a frame of reference (or reference frame) is an abstract coordinate system whose origin, orientation, and scale are specified by a set of reference points― geometric points whose position is identified both mathem ...
. Path planning is effectively an extension of localisation, 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. For any mobile device, the ability to navigate in its environment is important. Avoiding dangerous situations such as collisions and unsafe conditions (
temperature Temperature is a physical quantity that expresses quantitatively the perceptions of hotness and coldness. Temperature is measured with a thermometer. Thermometers are calibrated in various temperature scales that historically have relied o ...
, 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 robot
navigation system A navigation system is a computing system that aids in navigation. Navigation systems may be entirely on board the vehicle or vessel that the system is controlling (for example, on the ship's bridge) or located elsewhere, making use of radio or ot ...
, 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 its
frame of reference In physics and astronomy, a frame of reference (or reference frame) is an abstract coordinate system whose origin, orientation, and scale are specified by a set of reference points― geometric points whose position is identified both mathem ...
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 to ''interpret'' that representation. Navigation can be defined as the combination of the three fundamental competences: # Self-localisation # Path planning # Map-building and map interpretation Some robot navigation systems use
simultaneous localization and mapping Simultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. While this initially appears to be a chi ...
to generate 3D reconstructions of their surroundings.


Vision-based navigation

Vision-based navigation or optical navigation uses
computer vision Computer vision is an interdisciplinary scientific field that deals with how computers can gain high-level understanding from digital images or videos. From the perspective of engineering, it seeks to understand and automate tasks that the human ...
algorithms and optical sensors, including laser-based
range finder A rangefinder (also rangefinding telemeter, depending on the context) is a device used to measure distances to remote objects. Originally optical devices used in surveying, they soon found applications in other fields, such as photography an ...
and photometric cameras using CCD arrays, to extract the visual 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: * representations of the environment. * sensing models. * localization algorithms. In order to give an overview of vision-based navigation and its techniques, we classify these techniques under indoor navigation and outdoor navigation.


Indoor navigation

The easiest way of making a robot go to a goal location is simply to ''guide'' 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. Such ''Automated Guided Vehicles'' (AGVs) are used in industrial scenarios for transportation tasks. Indoor Navigation of Robots are possible by IMU based indoor positioning devices. There are a very wider variety of indoor navigation systems. The basic reference of indoor and outdoor navigation systems i
"Vision for mobile robot navigation: a survey"
by Guilherme N. DeSouza and Avinash C. Kak. Also se
"Vision based positioning"
and AVM Navigator.


Autonomous Flight Controllers

Typical Open Source Autonomous Flight Controllers have the ability to fly in full automatic mode and perform the following operations; * Take off from the ground and fly to a defined altitude * Fly to one or more waypoints * Orbit around a designated point * Return to the launch position * Descend at a specified speed and land the aircraft The onboard flight controller relies on GPS for navigation and stabilized flight, and often employ additional
Satellite-based augmentation system Augmentation of a global navigation satellite system (GNSS) is a method of improving the navigation system's attributes, such as precision, reliability, and availability, through the integration of external information into the calculation process. ...
s (SBAS) and altitude (barometric pressure) sensor.


Inertial navigation

Some navigation systems for airborne robots are based on inertial sensors.


Acoustic navigation

Autonomous underwater vehicles can be guided by underwater acoustic positioning systems. Navigation systems using sonar have also been developed.


Radio navigation

Robots can also determine their positions using
radio navigation Radio navigation or radionavigation is the application of radio frequencies to determine a position of an object on the Earth, either the vessel or an obstruction. Like radiolocation, it is a type of radiodetermination. The basic principles a ...
.


See also

* Electronic navigation *
Location awareness Location awareness refers to devices that can passively or actively determine their location. Navigational instruments provide location coordinates for vessels and vehicles. Surveying equipment identifies location with respect to a well-known locat ...
*
Vehicular automation Vehicular automation involves the use of mechatronics, artificial intelligence, and multi-agent systems to assist the operator of a vehicle (car, aircraft, watercraft, or otherwise).Hu, J.; Bhowmick, P.; Lanzon, A.,Group Coordinated Control ...


References


Further reading

*
Mobile Robot Navigation
Jonathan Dixon, Oliver Henlich - 10 June 1997 * BECKER, M. ; DANTAS, Carolina Meirelles ; MACEDO, Weber Perdigão,
Obstacle Avoidance Procedure for Mobile Robots
. In: Paulo Eigi Miyagi; Oswaldo Horikawa; Emilia Villani. (Org.). ''ABCM Symposium Series in Mechatronics'', Volume 2. 1 ed. São Paulo - SP: ABCM, 2006, v. 2, p. 250-257.


External links


line tracking sensors for robots and its algorithms
{{Robotics