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This paper proposes a method for collision avoidance of a mobile manipulator. The method deals with the problem of driving a mobile manipulator from a starting configuration to a goal configuration avoiding obstacles. It modifies planned trajectory at every sampling time using elastic force and potential field force. It puts way poses throughout a planned(More)
This paper describes a method for estimating the attitude of an underwater robot. The method employs a new concept of sine rotation vector and uses both an attitude heading and reference system (AHRS) and a Doppler velocity log (DVL) for the purpose of measurement. First, the acceleration and magnetic-field measurements are transformed into sine rotation(More)
This paper proposes a method for mobile robot localization in a partially unknown indoor environment. The method fuses two types of range measurements: the range from the robot to the beacons measured by ultrasonic sensors and the range from the robot to the walls surrounding the robot measured by a laser range finder (LRF). For the fusion, the unscented(More)
This paper proposes a method for localization of an underwater robot. The method uses Monte Carlo algorithm called the particle filter. It predicts the pose of the robot using the internal sensor information from thrusters, inertial sensors, and electronic compass. A correction procedure follows the prediction. The correction uses external sensor(More)
This paper describes an implementation of autonomous navigation for a mobile robot in an indoor environment. Autonomous navigation requires map building, localization, path planning, obstacle detection, obstacle avoidance, path following, and so on. For the map building, ICP(Iterative Closest Point) builds floor map represented as occupancy grids. MCL(Monte(More)
This paper proposes a novel method for acoustically and wirelessly transmitting data underwater with a high transmission rate. The method uses the most promising physical layer and multiple access technique (i.e., the code division multiple channel access technique) to divide the channel into subchannels. Data is transmitted through these subchannels. The(More)