July 2014

We propose an improved Monte Carlo Localization algorithm with robust orientation estimation (IMCLROE) by incorporating an orientation estimate and weight calculation mechanism to determine an optimal orientation for particles and a particles size balancing mechanism to regulate the number of particles for position tracking and global localization.

July 2014

To further reduce the computation time, the improved ant colony system algorithm for path planning is realized on FPGA circuit using a DE2-70 multimedia development board to verify the practicability of the proposed algorithm.

July 2013

We present an enhanced architecture for FastSLAM called computationally efficient SLAM (CESLAM), where odometer information is considered for updating the robot’s pose in particles.

July 2013

Monocular image-based local collision-free path planning for autonomous robots is presented. Our proposed method can not only easily identify obstacles and wall edges, but also estimate the distances and plan a collision-free path.

May 2013

To detect a ramp and guide a tracked robot to complete the ramp-climbing task in an unknown environment, four tracked robot control modes are proposed. The modes are the exploration mode, aligning mode, calculating the tilt angle mode, and climbing mode.