Journal of Field Robotics最新文献_第2页

The Autonomous Route Planning Algorithm for Rock Drilling Manipulator Based on Collision Detection 基于碰撞检测的凿岩机械臂自主路径规划算法

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-06-11 DOI: 10.1002/rob.22596

Shenglong Nie, Bo Chen, Yichao Li, Dianzheng Wang, Yundou Xu

{"title":"The Autonomous Route Planning Algorithm for Rock Drilling Manipulator Based on Collision Detection","authors":"Shenglong Nie, Bo Chen, Yichao Li, Dianzheng Wang, Yundou Xu","doi":"10.1002/rob.22596","DOIUrl":"https://doi.org/10.1002/rob.22596","url":null,"abstract":"<div>\u0000 \u0000 <p>In the field of high-redundancy manipulators, specifically in the rock drilling manipulator domain, fast and efficient path planning is crucial. Therefore, this paper proposes an improved algorithm, v-BI-RRT, based on the BI-RRT algorithm and oriented vector methods. In this algorithm, the nodes along one path are extended in the direction of the node coordinates of another path as the target direction. When the path collides with an obstacle, new node coordinates are generated using a random sampling method to bypass the obstacle. This approach enhances spatial search efficiency. For high-redundancy manipulators like the rock drilling manipulator, self-collision avoidance is a key component of collision-free path planning. This paper uses oriented bounding boxes (OBB) and capsules to envelope the manipulator's body. Potential self-collisions are detected in two stages: during the rapid detection phase, non-colliding pairs are quickly excluded, and during the precise detection phase, the distance between the remaining potential collision pairs is calculated using Euclidean distance to find the shortest distance. Finally, the self-collision detection algorithm is integrated into the v-BI-RRT algorithm. Simulations and experiments demonstrate that the algorithm responds quickly and performs well in avoiding collisions when applied to path planning for the rock drilling manipulator.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3918-3934"},"PeriodicalIF":5.2,"publicationDate":"2025-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129063","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Resilient Timed Elastic Band Planner for Collision-Free Navigation in Unknown Environments 未知环境下无碰撞导航的弹性定时弹性带规划器

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-06-09 DOI: 10.1002/rob.22602

Geesara Kulathunga, Abdurrahman Yilmaz, Zhuoling Huang, Ibrahim Hroob, Hariharan Arunachalam, Leonardo Guevara, Alexandr Klimchik, Grzegorz Cielniak, Marc Hanheide

{"title":"Resilient Timed Elastic Band Planner for Collision-Free Navigation in Unknown Environments","authors":"Geesara Kulathunga, Abdurrahman Yilmaz, Zhuoling Huang, Ibrahim Hroob, Hariharan Arunachalam, Leonardo Guevara, Alexandr Klimchik, Grzegorz Cielniak, Marc Hanheide","doi":"10.1002/rob.22602","DOIUrl":"https://doi.org/10.1002/rob.22602","url":null,"abstract":"<p>In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the initial planner's solution becomes infeasible. The proposed method incorporates a hybrid A* algorithm to generate feasible trajectories when the primary planner fails and applies a soft constraints-based smoothing technique to refine these trajectories, ensuring continuity, obstacle avoidance, and kinematic feasibility. Obstacle constraints are modeled using a dynamic Voronoi map to improve navigation through narrow passages. This approach enhances the consistency of trajectory planning, speeds up convergence, and meets real-time computational requirements. In environments with around 30% or higher obstacle density, the ratio of free space before and after placing new obstacles, the RESILIENT TIMED ELASTIC BAND (RTEB) planner achieves approximately 20% reduction in traverse distance, traverse time, and control effort compared to the timed elastic band (TEB) planner and nonlinear model predictive control (NMPC) planner. These improvements demonstrate the RTEB planner's potential for application in field robotics, particularly in agricultural and industrial environments, where efficient and resilient navigation is crucial.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3902-3917"},"PeriodicalIF":5.2,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22602","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129003","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of an Omnidirectional Mobile Passive-Compliant Magnetic-Wheeled Wall-Climbing Robot for Variable Curvature Facades 可变曲率外立面全向移动被动柔性磁轮爬壁机器人的研制

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-06-09 DOI: 10.1002/rob.22601

Pei Jia, Jidong Jia, Manhong Li, Minglu Zhang, Jie Zhao

{"title":"Development of an Omnidirectional Mobile Passive-Compliant Magnetic-Wheeled Wall-Climbing Robot for Variable Curvature Facades","authors":"Pei Jia, Jidong Jia, Manhong Li, Minglu Zhang, Jie Zhao","doi":"10.1002/rob.22601","DOIUrl":"https://doi.org/10.1002/rob.22601","url":null,"abstract":"<div>\u0000 \u0000 <p>Wall-climbing robots are increasingly being used to inspect and maintain large ship facades, ensuring structural safety and reliability. However, conventional rigid robots often struggle with adaptability and flexibility on complex curved surfaces. To address this, we propose an omnidirectional magnetic-wheel wall-climbing robot with a passive-compliant suspension system. This design allows all magnetic wheels to adhere simultaneously to inclined surfaces with varying curvatures, and each wheel can independently rotate to any angle. We quantitatively analyzed the relationship between configuration parameters and the spatial position mapping of the robot on complex elevations to verify its adaptability to variable curvatures. Based on normalized surface configurations of varying curvatures on ship facades, we establish the robot's kinematic transformation flow. We develop spatial dynamic models for three motion modes on variable-curvature surfaces using energy conservation principles, analyzing driving-wheel motion constraints and friction-type differences across the modes to enable precise calculation of robot motion parameters. The proposed robot enhances ship facade maintenance by enabling stable, flexible motion on variable-curvature surfaces, improving efficiency, safety, and adaptability.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3877-3901"},"PeriodicalIF":5.2,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Mechanism Design and Performance Analysis of Multi-Road Screw-Propelled Vehicle Based on DEM–MBD Coupling 基于DEM-MBD耦合的多路螺旋推进车辆机构设计与性能分析

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-06-09 DOI: 10.1002/rob.22600

Shurui Shi, Dong Wang

{"title":"Mechanism Design and Performance Analysis of Multi-Road Screw-Propelled Vehicle Based on DEM–MBD Coupling","authors":"Shurui Shi, Dong Wang","doi":"10.1002/rob.22600","DOIUrl":"https://doi.org/10.1002/rob.22600","url":null,"abstract":"<div>\u0000 \u0000 <p>Screw-propelled vehicle (SPV) is a novel multi-terrain vehicle that demonstrates significant potential in military, rescue, and extreme environment applications due to its exceptional terrain adaptability and maneuverability. However, most existing studies primarily focus on performance analysis in a single environment, resulting in a lack of systematic research on vehicle performance across multiple road conditions. In this study, an innovative coupling method combining multi-body dynamics (MBD) and the discrete element method (DEM) was employed to establish a comprehensive model that captures the interaction between the SPV and complex terrain. This model accurately simulates the mechanical behavior of the vehicle under various challenging road conditions, including sand, snow, and hay fields. Using the response surface method (RSM) and the Monte-Carlo method, we optimized key structural parameters of the SPV, such as the height-to-diameter ratio, spiral angle, and number of blades. This optimization process identified the parameter combinations that yield the best performance across multiple road conditions. Experimental results indicate that the adaptability and stability of the optimized SPV in diverse environments have significantly improved, thereby validating the accuracy and reliability of the numerical model. This study provides a solid theoretical foundation for enhancing and optimizing the performance of future SPV and is expected to facilitate ongoing advancements in screw propulsion technology for complex tasks and extreme conditions.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3853-3876"},"PeriodicalIF":5.2,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

VTOL Air Vehicle With Fixed-Inclined Rotors and a Rudder Vane 具有固定倾斜旋翼和舵叶的垂直起降飞行器

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-06-04 DOI: 10.1002/rob.22604

Yongrae Kim, Sanghyuk Park

{"title":"VTOL Air Vehicle With Fixed-Inclined Rotors and a Rudder Vane","authors":"Yongrae Kim, Sanghyuk Park","doi":"10.1002/rob.22604","DOIUrl":"https://doi.org/10.1002/rob.22604","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper describes a vertical take off and landing (VTOL) aircraft equipped with a rotor obliquely fixed to the wing and a control surface that changes the direction of the slipstream of the propeller. Conventional VTOL aircraft, such as lift-cruise or tilt rotor, show either increased drag and weight, resulting in reduced efficiency and payload capacity, or added mechanical complexity accompanied by sophisticated control requirements. Unlike other conventional VTOL aircraft, this vehicle achieves a stable transition between fixed-wing and rotary-wing modes simply by changing the pitch attitude of the aircraft. As the rotor is mounted at an inclined angle, it can control the pitch not only during hovering but also during horizontal flight by using differential thrust between the front and rear propulsion. Moreover, the roll angle can be controlled by using differential thrusts between the left and right thrusts. Additionally, this aircraft achieves yaw axis control by changing the direction of the rotor's slipstream. The control surface that adjusts the direction of the slipstream is termed the “rudder vane,” which is expected to provide rapid yaw response during hovering and naturally enhance directional stability during horizontal flight. Overall, this design promises improved energy efficiency, reduced mechanical and software complexity, and enhanced maneuverability, making the vehicle particularly well suited to demanding real-world operational environments. In this paper, mathematical modeling of a fixed-tilt rotor VTOL aircraft equipped with a rudder vane is performed, and a control law for the aircraft is designed and validated via flight tests.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3832-3852"},"PeriodicalIF":5.2,"publicationDate":"2025-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145128816","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

High Stability Traversing Practice of a MAS-UGV on Impassable Abrupt Roads MAS-UGV在无法通行的陡坡道路上的高稳定性穿越实践

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-05-30 DOI: 10.1002/rob.22599

Fan Zhang, Jikai Cui, Xianyue Gang, Jintian Cai, Zuochao Rong

{"title":"High Stability Traversing Practice of a MAS-UGV on Impassable Abrupt Roads","authors":"Fan Zhang, Jikai Cui, Xianyue Gang, Jintian Cai, Zuochao Rong","doi":"10.1002/rob.22599","DOIUrl":"https://doi.org/10.1002/rob.22599","url":null,"abstract":"<div>\u0000 \u0000 <p>Multi-axle active suspension vehicles are very promising for traversing impassable abrupt roads under high payload demands and complement the strengths of mobile robots. However, this hope is severely blocked by the high-order indeterminate property of the vehicle and the complex vehicle-ground interactions, making the suspension adjustment infinitely solvable. For the low-speed traversing reality, this paper first proposes a body attitude and wheel load coupling control model based on the explicit characterization of the load-deformation coupling nature of vehicles; then, the suspension adjustment-based wheel gait control is designed for typical impassable scenarios, wherein the coupling control model is invoked to solve the suspension adjustment under the stability objectives; finally, a multi-axle active suspension unmanned ground vehicle (MAS-UGV) in near-conventional configurations is developed and typical abrupt road traversing experiments are carried out. Experiments confirm that the proposed framework and controller can support high stability traversing of multi-axle active suspension vehicles (at least 50% improvement in attitude stability and controllable wheel loads) on originally impassible abrupt roads via the bionic-like gait, thus providing new possibilities for UGVs and even near-conventional vehicles to construct versatile, tough terrain crossing schemes.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3812-3831"},"PeriodicalIF":5.2,"publicationDate":"2025-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129485","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Comparison of DSO and ORB-SLAM3 in Low-Light Environments With Auxiliary Lighting and Deep Learning Based Image Enhancing 基于辅助照明和深度学习的低光环境下DSO和ORB-SLAM3图像增强的比较

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-05-27 DOI: 10.1002/rob.22595

Francesco Crocetti, Raffaele Brilli, Alberto Dionigi, Mario L. Fravolini, Gabriele Costante, Paolo Valigi

{"title":"Comparison of DSO and ORB-SLAM3 in Low-Light Environments With Auxiliary Lighting and Deep Learning Based Image Enhancing","authors":"Francesco Crocetti, Raffaele Brilli, Alberto Dionigi, Mario L. Fravolini, Gabriele Costante, Paolo Valigi","doi":"10.1002/rob.22595","DOIUrl":"https://doi.org/10.1002/rob.22595","url":null,"abstract":"<p>In the evolving landscape of robotic navigation, the demand for solutions capable of operating in challenging scenarios, such as low-light environments, is increasing. This study investigates the performance of two state-of-the-art (SOTA) visual simultaneous localization and mapping (VSLAM) algorithms, direct sparse odometry (DSO) and ORBSLAM3, in their monocular implementation, in the dark indoor scenarios where the only light source is provided by an auxiliary light system installed on a robot. A modified Pioneer3-DX robot, equipped with a monocular camera, LED bars, and a lux meter, is utilized to collect a novel data set, “LUCID—Lighting Up Campus Indoor Spaces Data Set,” in real-world, low-light indoor environments. The data set includes image sequences enhanced using a generative adversarial network (GAN) to simulate varying levels of image enhancement. Through comprehensive experiments, we assess the performances of the V-SLAM algorithm, considering the critical balance between maintaining adequate auxiliary illumination and enhancing. This study provides insights into the optimization of robotic navigation in lowlight conditions, paving the way for more robust and reliable autonomous navigation systems.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3748-3771"},"PeriodicalIF":5.2,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22595","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129462","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Study Demonstrating That Using Gravitational Offset to Prepare Extraterrestrial Mobility Missions Is Misleading 一项研究表明，使用重力偏移来准备地外移动任务是误导的

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-05-27 DOI: 10.1002/rob.22597

Wei Hu, Pei Li, Arno Rogg, Alexander Schepelmann, Samuel Chandler, Ken Kamrin, Dan Negrut

{"title":"A Study Demonstrating That Using Gravitational Offset to Prepare Extraterrestrial Mobility Missions Is Misleading","authors":"Wei Hu, Pei Li, Arno Rogg, Alexander Schepelmann, Samuel Chandler, Ken Kamrin, Dan Negrut","doi":"10.1002/rob.22597","DOIUrl":"https://doi.org/10.1002/rob.22597","url":null,"abstract":"<p>Recently, there has been a surge of international interest in extraterrestrial exploration targeting the Moon, Mars, the moons of Mars, and various asteroids. This contribution discusses how current state-of-the-art Earth-based testing for designing rovers and landers for these missions currently leads to overly optimistic conclusions about the behavior of these devices upon deployment on the targeted celestial bodies. The key misconception is that gravitational offset is necessary during the <i>terramechanics</i> testing of rover and lander prototypes on Earth. The body of evidence supporting our argument is tied to a small number of studies conducted during parabolic flights and insights derived from newly revised scaling laws. We argue that what has prevented the community from fully diagnosing the problem at hand is the absence of effective physics-based models capable of simulating terramechanics under low-gravity conditions. We developed such a physics-based simulator and utilized it to gauge the mobility of early prototypes of the Volatiles Investigating Polar Exploration Rover. This contribution discusses the results generated by this simulator, how they correlate with physical test results from the NASA-Glenn SLOPE lab, and the fallacy of the gravitational offset in rover and lander testing. The simulator, which is open-source and publicly available, also supports studies for in situ resource utilization activities, for example, digging, bulldozing, and berming, in low-gravity environments.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3772-3794"},"PeriodicalIF":5.2,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22597","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Visual-Inertial SLAM for Unstructured Outdoor Environments: Benchmarking the Benefits and Computational Costs of Loop Closing 用于非结构化室外环境的视觉惯性SLAM：闭环的基准效益和计算成本

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-05-27 DOI: 10.1002/rob.22581

Fabian Schmidt, Constantin Blessing, Markus Enzweiler, Abhinav Valada

{"title":"Visual-Inertial SLAM for Unstructured Outdoor Environments: Benchmarking the Benefits and Computational Costs of Loop Closing","authors":"Fabian Schmidt, Constantin Blessing, Markus Enzweiler, Abhinav Valada","doi":"10.1002/rob.22581","DOIUrl":"https://doi.org/10.1002/rob.22581","url":null,"abstract":"<p>Simultaneous localization and mapping (SLAM) is essential for mobile robotics, enabling autonomous navigation in dynamic, unstructured outdoor environments without relying on external positioning systems. These environments pose significant challenges due to variable lighting, weather conditions, and complex terrain. Visual-Inertial SLAM has emerged as a promising solution for robust localization under such conditions. This paper benchmarks several open-source visual-Inertial SLAM systems, including traditional methods (ORB-SLAM3, VINS-Fusion, OpenVINS, Kimera, and SVO Pro) and learning-based approaches (HFNet-SLAM, AirSLAM), to evaluate their performance in unstructured natural outdoor settings. We focus on the impact of loop closing on localization accuracy and computational demands, providing a comprehensive analysis of these systems' effectiveness in real-world environments and especially their application to embedded systems in outdoor robotics. Our contributions further include an assessment of varying frame rates on localization accuracy and computational load. The findings highlight the importance of loop closing in improving localization accuracy while managing computational resources efficiently, offering valuable insights for optimizing Visual-Inertial SLAM systems for practical outdoor applications in mobile robotics. The data set and the benchmark code are available under https://github.com/iis-esslingen/vi-slam_lc_benchmark.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3726-3747"},"PeriodicalIF":5.2,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22581","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Improved Robot Localization and Mapping Using Adaptive Tuna Schooling Optimization With Sensor Fusion Techniques 基于自适应金枪鱼鱼群优化的传感器融合技术改进机器人定位和映射

IF 5.2 2区计算机科学

Journal of Field Robotics Pub Date : 2025-05-27 DOI: 10.1002/rob.22598

M. Sivapalanirajan, M. Willjuice Iruthayarajan, B. Vigneshwaran

{"title":"Improved Robot Localization and Mapping Using Adaptive Tuna Schooling Optimization With Sensor Fusion Techniques","authors":"M. Sivapalanirajan, M. Willjuice Iruthayarajan, B. Vigneshwaran","doi":"10.1002/rob.22598","DOIUrl":"https://doi.org/10.1002/rob.22598","url":null,"abstract":"<div>\u0000 \u0000 <p>Localization in mobile robotics is essential for achieving autonomy. Effective localization systems integrate data from multiple sensors to enhance state estimation and achieve accurate positioning. Accurate real-time localization is crucial for robot control and trajectory following. Key challenges include initializing the inertial measurement unit (IMU) biases and the direction of gravity, as well as determining the metric scale with a monocular camera. Traditional visual–inertial (VI) initialization techniques rely on precise vision-only motion assessments to address these issues. Multi-sensor fusion faces challenges, such as precise calibration, initialization of sensor groups, and handling measurement errors with varying rates and delays. This paper introduces an Adaptive Tuna Schooling Optimization (ATSO) method to adjust localization strategies based on environmental conditions dynamically. The environmental factors affecting the localization process are considered in the optimization algorithm, and the position is optimally selected accordingly. Using Q-learning with the Q-DNN performs the decision-making process based on past experiences. The dynamic adaptation of the weight parameter allows the algorithm to converge toward optimal solutions, reducing computational complexity. Experimental results demonstrate that the proposed approach improves localization performance, even in challenging conditions.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3795-3811"},"PeriodicalIF":5.2,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129461","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0