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Implementation of an outdoor navigation system for a mobile robot is described in this paper. In this system, two optical encoders are used to perform dead-reckoning for the mobile robot. Meanwhile, an electronic compass and a GPS receiver are used for self-localization of the robot. Fusing the sensory data from dead-reckoning and self-localization,(More)
The time-optimal control problem of a three-wheeled omni-directional mobile robot is addressed in this paper. Different from usual cases, in which the Pontryagin's minimum principle (PMP) is used, an iterative procedure is proposed to transform the time-optimal problem into a nonlinear programming (NLP) one. In the NLP problem, the count of control steps is(More)
Contrast enhancement plays a crucial role in the field of image processing. Histogram equalization is a simple and automatic method for contrast enhancement. Conventional contrast-enhancement techniques, such as histogram specification and contrast stretching, require manual parameters to achieve satisfactory results. To automatically produce enhanced(More)
Based on particle swarm optimization (PSO) algorithm for optimal design of PID controller, a method is proposed to navigate of a two-wheeled mobile robot from a given initial configuration to a desired final configuration in an unknown environment filled with obstacles. The mobile robot can follow a wall with PID control to adjust motor speed and avoid(More)
This paper shows that a laser range finder and four artificial reflectors can be used to determine the position of a mobile robot in a three-dimensional (3D) working space provided that the four reflectors are not installed in the same plane. Moreover, a particle swarm optimization (PSO) algorithm is used to filter possible measuring errors. To show the(More)