Journal of Field Robotics最新文献_第5页

Uncertainty-aware LiDAR-based localization for outdoor mobile robots 基于不确定性感知激光雷达的户外移动机器人定位系统

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-09 DOI: 10.1002/rob.22392

Geonhyeok Park, Woojin Chung

{"title":"Uncertainty-aware LiDAR-based localization for outdoor mobile robots","authors":"Geonhyeok Park, Woojin Chung","doi":"10.1002/rob.22392","DOIUrl":"10.1002/rob.22392","url":null,"abstract":"Accurate and robust localization is essential for autonomous mobile robots. Map matching based on Light Detection and Ranging (LiDAR) sensors has been widely adopted to estimate the global location of robots. However, map-matching performance can be degraded when the environment changes or when sufficient features are unavailable. Indiscriminately incorporating inaccurate map-matching poses for localization can significantly decrease the reliability of pose estimation. This paper aims to develop a robust LiDAR-based localization method based on map matching. We focus on determining appropriate weights that are computed from the uncertainty of map-matching poses. The uncertainty of map-matching poses is estimated by the probability distribution over the poses. We exploit the normal distribution transform map to derive the probability distribution. A factor graph is employed to combine the map-matching pose, LiDAR-inertial odometry, and global navigation satellite system information. Experimental verification was successfully conducted outdoors on the university campus in three different scenarios, each involving changing or dynamic environments. We compared the performance of the proposed method with three LiDAR-based localization methods. The experimental results show that robust localization performances can be achieved even when map-matching poses are inaccurate in various outdoor environments. The experimental video can be found at https://youtu.be/L6p8gwxn4ak.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2790-2804"},"PeriodicalIF":4.2,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22392","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141571733","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

Optimising robotic operation speed with edge computing via 5G network: Insights from selective harvesting robots 通过 5G 网络的边缘计算优化机器人运行速度：选择性收割机器人的启示

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-05 DOI: 10.1002/rob.22384

Usman A. Zahidi, Arshad Khan, Tsvetan Zhivkov, Johann Dichtl, Dom Li, Soran Parsa, Marc Hanheide, Grzegorz Cielniak, Elizabeth I. Sklar, Simon Pearson, Amir Ghalamzan-E.

{"title":"Optimising robotic operation speed with edge computing via 5G network: Insights from selective harvesting robots","authors":"Usman A. Zahidi, Arshad Khan, Tsvetan Zhivkov, Johann Dichtl, Dom Li, Soran Parsa, Marc Hanheide, Grzegorz Cielniak, Elizabeth I. Sklar, Simon Pearson, Amir Ghalamzan-E.","doi":"10.1002/rob.22384","DOIUrl":"10.1002/rob.22384","url":null,"abstract":"Selective harvesting by autonomous robots will be a critical enabling technology for future farming. Increases in inflation and shortages of skilled labor are driving factors that can help encourage user acceptability of robotic harvesting. For example, robotic strawberry harvesting requires real-time high-precision fruit localization, three-dimensional (3D) mapping, and path planning for 3D cluster manipulation. Whilst industry and academia have developed multiple strawberry harvesting robots, none have yet achieved human–cost parity. Achieving this goal requires increased picking speed (perception, control, and movement), accuracy, and the development of low-cost robotic system designs. We propose the edge-server over 5G for Selective Harvesting (E5SH) system, which is an integration of high bandwidth and low latency Fifth-Generation (5G) mobile network into a crop harvesting robotic platform, which we view as an enabler for future robotic harvesting systems. We also consider processing scale and speed in conjunction with system environmental and energy costs. A system architecture is presented and evaluated with support from quantitative results from a series of experiments that compare the performance of the system in response to different architecture choices, including image segmentation models, network infrastructure (5G vs. Wireless Fidelity), and messaging protocols, such as Message Queuing Telemetry Transport and Transport Control Protocol Robot Operating System. Our results demonstrate that the E5SH system delivers step-change peak processing performance speedup of above 18-fold than a standalone embedded computing Nvidia Jetson Xavier NX system.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2771-2789"},"PeriodicalIF":4.2,"publicationDate":"2024-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22384","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141571734","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

Semihierarchical reconstruction and weak-area revisiting for robotic visual seafloor mapping 用于机器人视觉海底测绘的半层次重建和弱区重访

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-04 DOI: 10.1002/rob.22390

Mengkun She, Yifan Song, David Nakath, Kevin Köser

{"title":"Semihierarchical reconstruction and weak-area revisiting for robotic visual seafloor mapping","authors":"Mengkun She, Yifan Song, David Nakath, Kevin Köser","doi":"10.1002/rob.22390","DOIUrl":"10.1002/rob.22390","url":null,"abstract":"Despite impressive results achieved by many on-land visual mapping algorithms in the recent decades, transferring these methods from land to the deep sea remains a challenge due to harsh environmental conditions. Images captured by autonomous underwater vehicles, equipped with high-resolution cameras and artificial illumination systems, often suffer from heterogeneous illumination and quality degradation caused by attenuation and scattering, on top of refraction of light rays. These challenges often result in the failure of on-land Simultaneous Localization and Mapping (SLAM) approaches when applied underwater or cause Structure-from-Motion (SfM) approaches to exhibit drifting or omit challenging images. Consequently, this leads to gaps, jumps, or weakly reconstructed areas. In this work, we present a navigation-aided hierarchical reconstruction approach to facilitate the automated robotic three-dimensional reconstruction of hectares of seafloor. Our hierarchical approach combines the advantages of SLAM and global SfM that are much more efficient than incremental SfM, while ensuring the completeness and consistency of the global map. This is achieved through identifying and revisiting problematic or weakly reconstructed areas, avoiding to omit images and making better use of limited dive time. The proposed system has been extensively tested and evaluated during several research cruises, demonstrating its robustness and practicality in real-world conditions.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2749-2770"},"PeriodicalIF":4.2,"publicationDate":"2024-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22390","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141548908","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 and field evaluation of a VR/AR-based remotely controlled system for a two-wheel paddy transplanter 为双轮水稻插秧机开发基于 VR/AR 的远程控制系统并进行实地评估

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-02 DOI: 10.1002/rob.22389

Shiv Kumar Lohan, Mahesh Kumar Narang, Parmar Raghuvirsinh, Santosh Kumar, Lakhwinder Pal Singh

{"title":"Development and field evaluation of a VR/AR-based remotely controlled system for a two-wheel paddy transplanter","authors":"Shiv Kumar Lohan, Mahesh Kumar Narang, Parmar Raghuvirsinh, Santosh Kumar, Lakhwinder Pal Singh","doi":"10.1002/rob.22389","DOIUrl":"10.1002/rob.22389","url":null,"abstract":"Operating a two-wheel paddy transplanter traditionally poses physical strain and cognitive workload challenges for farm workers, especially during headland turns. This study introduces a virtual reality (VR)/augmented reality (AR)based remote-control system for a two-wheel paddy transplanter to resolve these issues. The system replaces manual controls with VR interfaces, integrating gear motors and an electronic control unit. Front and rear-view cameras provide real-time field perception on light-emitting diode screens, displaying path trajectories via an autopilot controller and real-time kinematic global navigation satellite systems module. Human operators manipulate the machine using a hand-held remote controller while observing live camera feeds and path navigation trajectories. The study found that forward speed necessitated optimization within manageable limits of 1.75–2.00 km h−1 for walk-behind types and 2.00–2.25 km h−1 for remote-controlled systems. While higher speeds enhanced field capacity by 11.67%–12.95%, they also resulted in 0.74%–1.17% lower field efficiency. Additionally, Operators' physiological workload analysis revealed significant differences between walk-behind and remotely controlled operators. Significant differences in energy expenditure rate (EER) were observed between walk-behind and remote-controlled paddy transplanters, with EER values ranging from 8.20 ± 0.80 to 27.67 ± 0.45 kJ min⁻¹ and 7.56 ± 0.55 to 9.72 ± 0.37 kJ min⁻¹, respectively (p < 0.05). Overall, the VR-based remote-control system shows promise in enhancing operational efficiency and reducing physical strain in paddy transplanting operations.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2732-2748"},"PeriodicalIF":4.2,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141525509","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

Multitarget adaptive virtual fixture based on task learning for hydraulic manipulator 基于液压机械手任务学习的多目标自适应虚拟夹具

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-02 DOI: 10.1002/rob.22386

Min Cheng, Renming Li, Ruqi Ding, Bing Xu

引用次数: 0

A simulation-assisted point cloud segmentation neural network for human–robot interaction applications 用于人机交互应用的仿真辅助点云分割神经网络

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-01 DOI: 10.1002/rob.22385

Jingxin Lin, Kaifan Zhong, Tao Gong, Xianmin Zhang, Nianfeng Wang

引用次数: 0

Three-dimensional kinematics-based real-time localization method using two robots 基于三维运动学的双机器人实时定位方法

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-01 DOI: 10.1002/rob.22383

Guy Elmakis, Matan Coronel, David Zarrouk

引用次数: 0

Soft crawling caterpillar driven by electrohydrodynamic pumps 由电动流体动力泵驱动的软履带履带车

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-07-01 DOI: 10.1002/rob.22388

Tianyu Zhao, Cheng Wang, Zhongbao Luo, Weiqi Cheng, Nan Xiang

{"title":"Soft crawling caterpillar driven by electrohydrodynamic pumps","authors":"Tianyu Zhao, Cheng Wang, Zhongbao Luo, Weiqi Cheng, Nan Xiang","doi":"10.1002/rob.22388","DOIUrl":"10.1002/rob.22388","url":null,"abstract":"Soft crawling robots are usually driven by bulky and complex external pneumatic or hydraulic actuators. In this work, we proposed a miniaturized soft crawling caterpillar based on electrohydrodynamic (EHD) pumps. The caterpillar was mainly composed of a flexible EHD pump for providing the driving force, an artificial muscle for performing the crawling, a fluid reservoir, and several stabilizers and auxiliary feet. To achieve better crawling performances for our caterpillar, the flow rate and pressure of the EHD pump were improved by using a curved electrode design. The electrode gap, electrode overlap length, channel height, electrode thickness, and electrode pair number of the EHD pump were further optimized for better performance. Compared with the EHD pumps with conventional straight electrodes, our EHD pump showed a 50% enhancement in driving pressure and a 60% increase in flow rate. The bending capability of the artificial muscles was also characterized, showing a maximum bending angle of over 50°. Then, the crawling ability of the soft crawling caterpillar is also tested. Finally, our caterpillar owns the advantages of simple fabrication, low-cost, fast movement speed, and small footprint, which has robust and wide potential for practical use, especially over various terrains.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2705-2714"},"PeriodicalIF":4.2,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141532743","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

Autonomous navigation method based on RGB-D camera for a crop phenotyping robot 基于 RGB-D 摄像头的作物表型机器人自主导航方法

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-06-30 DOI: 10.1002/rob.22379

Meng Yang, Chenglong Huang, Zhengda Li, Yang Shao, Jinzhan Yuan, Wanneng Yang, Peng Song

{"title":"Autonomous navigation method based on RGB-D camera for a crop phenotyping robot","authors":"Meng Yang, Chenglong Huang, Zhengda Li, Yang Shao, Jinzhan Yuan, Wanneng Yang, Peng Song","doi":"10.1002/rob.22379","DOIUrl":"10.1002/rob.22379","url":null,"abstract":"Phenotyping robots have the potential to obtain crop phenotypic traits on a large scale with high throughput. Autonomous navigation technology for phenotyping robots can significantly improve the efficiency of phenotypic traits collection. This study developed an autonomous navigation method utilizing an RGB-D camera, specifically designed for phenotyping robots in field environments. The PP-LiteSeg semantic segmentation model was employed due to its real-time and accurate segmentation capabilities, enabling the distinction of crop areas in images captured by the RGB-D camera. Navigation feature points were extracted from these segmented areas, with their three-dimensional coordinates determined from pixel and depth information, facilitating the computation of angle deviation (α) and lateral deviation (d). Fuzzy controllers were designed with α and d as inputs for real-time deviation correction during the walking of phenotyping robot. Additionally, the method includes end-of-row recognition and row spacing calculation, based on both visible and depth data, enabling automatic turning and row transition. The experimental results showed that the adopted PP-LiteSeg semantic segmentation model had a testing accuracy of 95.379% and a mean intersection over union of 90.615%. The robot's navigation demonstrated an average walking deviation of 1.33 cm, with a maximum of 3.82 cm. Additionally, the average error in row spacing measurement was 2.71 cm, while the success rate of row transition at the end of the row was 100%. These findings indicate that the proposed method provides effective support for the autonomous operation of phenotyping robots.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2663-2675"},"PeriodicalIF":4.2,"publicationDate":"2024-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22379","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141525510","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

Design and movement mechanism analysis of a multiple degree of freedom bionic crocodile robot based on the characteristic of “death roll” 基于 "死亡翻滚 "特性的多自由度仿生鳄鱼机器人的设计与运动机理分析

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-06-21 DOI: 10.1002/rob.22380

Chujun Liu, Jingwei Wang, Zhongyang Liu, Zejia Zhao, Guoqing Zhang

{"title":"Design and movement mechanism analysis of a multiple degree of freedom bionic crocodile robot based on the characteristic of “death roll”","authors":"Chujun Liu, Jingwei Wang, Zhongyang Liu, Zejia Zhao, Guoqing Zhang","doi":"10.1002/rob.22380","DOIUrl":"10.1002/rob.22380","url":null,"abstract":"This paper introduces a multi-degree of freedom bionic crocodile robot designed to tackle the challenge of cleaning pollutants and debris from the surfaces of narrow, shallow rivers. The robot mimics the “death roll” motion of crocodiles which is a technique used for object disintegration. First, the design incorporated a swinging tail mechanism using a multi-section oscillating guide-bar mechanism. By analyzing three-, four-, and five-section tail structures, the four-section tail was identified as the most effective structure, offering optimal strength and swing amplitude. Each section of the tail can reach maximum swing angles of 8.05°, 20.95°, 35.09°, and 43.84°, respectively, under a single motor's drive. Next, the robotic legs were designed with a double parallelogram mechanism, facilitating both crawling and retracting movements. In addition, the mouth employed a double-rocker mechanism for efficient closure and locking, achieving an average torque of 5.69 N m with a motor torque of 3.92 N m. Moreover, the robotic body was designed with upper and lower segment structures and waterproofing function was also considered. Besides, the kinematic mechanism and mechanical properties of the bionic crocodile structure were analyzed from the perspectives of modeling and field tests. The results demonstrated an exceptional kinematic performance of the bionic crocodile robot, effectively replicating the authentic movement characteristics of a crocodile.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"41 8","pages":"2650-2662"},"PeriodicalIF":4.2,"publicationDate":"2024-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141529118","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