Cookies
O website necessita de alguns cookies e outros recursos semelhantes para funcionar. Caso o permita, o INESC TEC irá utilizar cookies para recolher dados sobre as suas visitas, contribuindo, assim, para estatísticas agregadas que permitem melhorar o nosso serviço. Ver mais
Aceitar Rejeitar
  • Menu
Publicações

Publicações por Héber Miguel Sobreira

2016

2D Cloud Template Matching - A comparison between Iterative Closest Point and Perfect Match

Autores
Sobreira, H; Rocha, L; Costa, C; Lima, J; Costa, P; Paulo Moreira, AP;

Publicação
2016 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2016)

Abstract
Self-localization of mobile robots in the environment is one of the most fundamental problems in the robotics field. It is a complex and challenging problem due to the high requirements of autonomous mobile vehicles, particularly with regard to algorithms accuracy, robustness and computational efficiency. In this paper we present the comparison of two of the most used map-matching algorithm, which are the Iterative Closest Point and the Perfect Match. This category of algorithms are normally applied in localization based on natural landmarks. They were compared using an extensive collection of metrics, such as accuracy, computational efficiency, convergence speed, maximum admissible initialization error and robustness to outliers in the robots sensors data. The test results were performed in both simulated and real world environments.

2015

3 DoF/6 DoF Localization System for Low Computing Power Mobile Robot Platforms

Autores
Costa, CM; Sobreira, HM; Sousa, AJ; Veiga, G;

Publicação
Cutting Edge Research in Technologies

Abstract

2016

Mobile Robot Localization Based on a Security Laser: An Industry Scene Implementation

Autores
Sobreira, H; Moreira, AP; Costa, PG; Lima, J;

Publicação
ROBOT 2015: SECOND IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 2

Abstract
Usually the Industrial Automatic Guide Vehicles (AGVs) have two kind of lasers. One for navigation on the top and others for obstacle detection (security lasers). Recently, security lasers extended its output data with obstacle distance (contours) and reflectivity, that allows the development of a novel localization system based on a security laser. This paper addresses a localization system that avoids a dedicated laser scanner reducing the implementations cost and robot size. Also, performs a tracking system with precision and robustness that can operate AVGs in an industrial environment. Artificial beacons detection algorithm combined with a Kalman filter and outliers rejection method increase the robustness and precision of the developed system. A comparison between the presented approach and a commercial localization system for industry is presented. Finally, the proposed algorithms were tested in an industrial application under realistic working conditions.

2016

Robust mobile robot localization based on a security laser: an industry case study

Autores
Sobreira, H; Moreira, AP; Costa, P; Lima, J;

Publicação
INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL

Abstract
Purpose - This paper aims to address a mobile robot localization system that avoids using a dedicated laser scanner, making it possible to reduce implementation costs and the robot's size. The system has enough precision and robustness to meet the requirements of industrial environments. Design/methodology/approach - Using an algorithm for artificial beacon detection combined with a Kalman Filter and an outlier rejection method, it was possible to enhance the precision and robustness of the overall localization system. Findings - Usually, industrial automatic guide vehicles feature two kinds of lasers: one for navigation placed on top of the robot and another for obstacle detection (security lasers). Recently, security lasers extended their output data with obstacle distance (contours) and reflectivity. These new features made it possible to develop a novel localization system based on a security laser. Research limitations/implications - Once the proposed methodology is completely validated, in the future, a scheme for global localization and failure detection should be addressed. Practical implications - This paper presents a comparison between the presented approach and a commercial localization system for industry. The proposed algorithms were tested in an industrial application under realistic working conditions. Social implications - The presented methodology represents a gain in the effective cost of the mobile robot platform, as it discards the need for a dedicated laser for localization purposes. Originality/value - This paper presents a novel approach that benefits from the presence of a security laser on mobile robots (mandatory sensor when considering industrial applications), using it simultaneously with other sensors, not only to guarantee safety conditions during operation but also to locate the robot in the environment. This paper is also valuable because of the comparison made with a commercialized system, as well as the tests conducted in real industrial environments, which prove that the approach presented is suitable for working under these demanding conditions.

2015

Robust Mobile Robot Localization based on Security Laser Scanner

Autores
Sobreira, H; Moreira, AP; Costa, PG; Lima, J;

Publicação
2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Abstract
This paper addresses the development of a new localization system based on a security laser presented on most AGVs for safety reasons. An enhanced artificial beacons detection algorithm is applied with a combination of a Kalman filter and an outliers rejection method in order to increase the robustness and precision of the system. This new robust approach allows to implement such system in current AGVs. Real results in industrial environment validate the proposed methodology.

2015

Robust Robot Localization Based on the Perfect Match Algorithm

Autores
Sobreira, H; Pinto, M; Moreira, AP; Costa, PG; Lima, J;

Publicação
CONTROLO'2014 - PROCEEDINGS OF THE 11TH PORTUGUESE CONFERENCE ON AUTOMATIC CONTROL

Abstract
Self-localization of a robot in an indoor plant is one of the most important requirement in mobile robotics. This paper addresses the application and improvement of a well known localization algorithm used in Robocup Midsize league competition in real service and industrial robots. This new robust approach is based on modeling the quality of several measures and minimizing the maching error. The presented innovative work applies the robotic football knowledge to other fields with high accuracy. Real and simulated results allow to validate the proposed methodology.

  • 1
  • 6