Camera Recognition and Laser Detection based on EKF-SLAM in the Autonomous Navigation of Humanoid Robot

Shuhuan Wen, Miao Sheng, Chunli Ma, Zhen Li, H. K. Lam, Yongsheng Zhao, Jingrong Ma

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)
287 Downloads (Pure)

Abstract

The ability of autonomous navigation of the humanoid robot under unknown environment is very important to real-life applications. EKF-SLAM based on the camera recognition and laser detection for humanoid robot NAO is presented in this paper. Camera recognition is used to recognize if the object is a landmark. Because the computational resources needed for the feature-based position estimation are quite expensive, the laser instead of the camera provides the position of the landmark. A fractional order proportional-integral (PI) controller is designed to reduce the derivation of the NAO robot from the desired path during autonomous navigation. Experiments show that the proposed method is valid and reliable for autonomous navigation of the NAO robot under unknown environment.
Original languageEnglish
Pages (from-to)1-13
Number of pages13
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Early online date3 Nov 2017
DOIs
Publication statusE-pub ahead of print - 3 Nov 2017

Keywords

  • Autonomous navigation
  • EKF-SLAM algorithm
  • Fractional order PI controller
  • Laser detection
  • Object recognition

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