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Associate Research Fellow  |  Liu, Jing-Sin  
 
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Research Descriptions
 

        The following are some of our aims:

1. proof-of-concepts experiments for mobile robot navigation on unknown indoor environments

--3D mapping using rotating laser range finder based on DT +linear simplex for map alignment

http://www.youtube.com/watch?v=ceBAgnJhack

--Waypoint navigation system for limit cycle avoidance in nonconvex obstacles (e.g. U-shape or deadend) in polar coordinate

   http://youtu.be/m19xuV7E9R4   

    http://youtu.be/jGuq4SsEN9Q  

--surveillance mobile robot performing wall following and human detection

https://www.youtube.com/watch?v=aj_6KkYbbX4

Autonomous navigation requires that a mobile robot is capable of exploring (interacting with its environment) and planning how to travel through an uncertain environment and executing the plan to accomplish the missions, e.g. mapping a region, gathering data, surveillance (target seeking, following or pursuit, and border patrol) in potentially hostile environment. To meet the requirement, the robot needs to solve the path/motion planning problem, i.e. generate a static or dynamic obstacle-avoiding path/trajectory that is optimal with respect to one or more kinematic or dynamic criteria.

2. Now we develop soft computing based approaches for mobile robot path planning for data gethering in wireless sensor networkand navigation.We develop an efficient evolutionary path planner for data-collection problem using data mule in wsn or using uav for mapping a region, which  is a variant of Traveling Salesman Problem with Neighborhood (TSPN).

 
 
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