Navigation system

Autonomous Navigation Systems

The purpose of our work in autonomous navigation systems is to provide mobile robots efficient approaches for perception of unknown dynamic environments so that they can take correct decisions for navigation. Our current work focuses on environment reconstruction and vision-based navigation. Environment reconstruction We have successfully developed a mapping system that is able to reconstruct the environment without any physical contact. The proposed system is based on a set of ultrasonic sensors placed around the robot’s structure. The environment is reconstructed in real-time (i.e. as the robot moves) from the data obtained by the sensors. These data includes the presence of an object (obstacle, wall, etc.) and its distance from the robot.  Contact: Manuel Romo, Jorge Varona and Ramiro Velázquez  Vision-based navigation Although ultrasonic sensing is quite promising, they are active sensors, i.e. those sensors which send energy (and disturb) the environment in order to collect data. We are also working on autonomous navigation approaches based on passive sensors such as video cameras.One of the most popular applications for vision-based autonomous mobile robots is line following. This application requires the vehicle to follow solid and dashed lines along a path while avoiding obstacles, overcoming terrain changes and attempting to maximize speed. The challenge is to implement a reliable algorithm that works under variable and unpredictable conditions of luminosity, shadows, etc.We have successfully tested this application in our mobile platforms and we are currently working in object detection and texture identification.  



 Contact: Ramiro Velázquez