Designing Autonomous Mobile Robots phần 1 pps
Designing Autonomous Mobile Robots phần 1 pps
... goal seeking 11 1
A practical starting point and “a priori” knowledge 11 5
Chapter 8: Live Reckoning 11 7
Understanding why good dead reckoning is crucial 12 0
Picking coordinate systems 12 1
Tick calculations ... uncertainty 14 3
Learning to be accurately uncertain 14 4
Uses of uncertainty 14 4
Chapter 11 : Hard Navigation vs. Fuzzy Navigation 14 5
Sensor data and maps 14 5
Naviga...
Designing Autonomous Mobile Robots phần 4 pps
... 3
(Lidar)
Xducers
Laser
Ranger
802 .11
Ethernet
Radio
Lap Top
Master Computer
Camera
Ethernet
802 .11
Ethernet
Access Point
802 .11
Ethernet
Access Point
Host
Computer
Ethernet
Mobile Robot
Figure 6.7. Communications ... 19 97)
(Courtesy of Cybermotion, Inc.)
5
When we switched our systems from analog video transmission and serial data radios to
802 .11 and digital video, the process to...
Designing Autonomous Mobile Robots phần 6 ppsx
... results.
Figure 11 .12 . Triangular vs. trapezoidal profile
Error
Q factor
Error = 0
Error = Uncertainty
1. 0
Triangular Profile
Q = (U-E)/U
0.0
E1 E2
Q1
Trapezoidal Profile
19 8
Chapter 13
In Figure 13 .2, ... the Q factor for the whole fit.
x
COR
= – (Q
FITx
* E
x
) (Equation 11 .13 )
And
y
COR
= – (Q
FITy
* E
y
) (Equation 11 .14 )
Assume that this robot had begun this whole pr...
Designing Autonomous Mobile Robots phần 9 pps
... 03/20/2003 23:37 -39.62 -12 8.40 C64 C64_PO to C64_JS
03/ 21/ 2003 00 :14 81. 05 - 21. 85 C64 C64_PO to C64_BS
03/ 21/ 2003 00 :16 92.96 -79.95 C64 C64_BS to C64_SB
03/ 21/ 2003 00: 31 45.33 -96.56 C64 C64_ES ... status)
9. Map name
10 . Map revision
11 . X, Y, Z position
12 . Heading
13 . Last node
14 . Next node
15 . Destination node
16 . Link to incident report or video clip (if...
Designing Autonomous Mobile Robots phần 2 ppt
... channel.
Signal
Strength
Threat
Contribution
10 0%20% 40% 60% 80%
20
40
60
80
MW
PIR
P1
P2
P1
P2 / P3
P3
P0
Figure 4.3. Trapezoidal fuzzy logic
52
Chapter 4
By defining the three points T0, T1, and T2, we have determined ... accordingly.
Ambient Temperature
Degrees Farenheight
Nominal
PIR
Threat
Contribution
10 020 40 60 80
20
40
60
80
12 0
T2
T1
T0
10 0
Figure 4.4. Weighting function of...
Designing Autonomous Mobile Robots phần 3 potx
... effective.
Mobile robots are a different matter. The two biggest differences are the fact that the
robot system is mobile, and that it is usually composed of several separate sub
systems. If
1
VBNet ... computer resources that are absorbed. Generally the PID rate
for a mobile robot operating at less than 3 mph will be from 10 Hz to 10 0 Hz. A
single execution of the PID is often ca...
Designing Autonomous Mobile Robots phần 5 ppt
... axis.
Q
x
= (U
x
– |E
xAz
|) / U
x
(Equation 11 .9)
And
Q
y
= (U
y
– |E
yAz
|) / U
y
(Equation 11 .10 )
Where:
E
x
= Observed lateral error (see Figure 11 .10 )
E
y
= Observed longitudinal error
If ... fit
quality for each axis as follows:
Q
FITx
= Q
x
* Q
Ox
(Equation 11 .11 )
And
Q
FITy
= Q
y
* Q
Oy
(Equation 11 .12 )
13 0
Chapter 9
Closing behaviors
At first, we would think...
Designing Autonomous Mobile Robots phần 7 pdf
... TG_ 210 ;Use FID at TG_ 210 with default diameter.
DO@ 1, EV _10 ;Execute the following at EV _10 .
WATCHXY Indef,TG _10 ;Watch TG _10 until canceled by WATCH or PAN.
;DO Group closed.
RUNON Fast, B13_N3
;
227
Programming ... continues.
;//////////////////////////////////////////////////////////////////////
; B13_CDN3.sgv- Path file generated by PathCAD Version 3.63.
;
; Path program from B...
Designing Autonomous Mobile Robots phần 8 pot
...
Cybermotion,
Inc. during the 19 80s
1
. Its primary precept is:
1
Blachman, Hammond, and Holland, Recollection from discussion in engineering department men’s
room, March 14 , 19 84.
244
Chapter 16
External job ... flexibility.
Mail Room
Stop 1
Stop 2
Stop 3
Stop 9
Stop 8
Stop 7
Stop 6 Stop 5
Stop 4
Figure 16 .1. Simplified diagram of loop dispatching
Command, Control, and Monito...
Designing Autonomous Mobile Robots phần 10 doc
... involvement in robotics, 313 - 315
uncertainty
azimuth, 14 1
estimate, 15 1
importance of, 13 8 -14 0, 15 8
lateral, 14 3
longitudinal, 14 2
modeling, 14 0 -14 3
reducing, 14 3 -14 4, 16 6 -16 7
uses of, 14 4
Unimation, 296
UNIX, ... 14 9
latency, 95
navigation data, 211
Law of Cosines, 325
Law of Sines, 325
library of functions, creating, 41
lidar, 10 8, 13 7, 14 5, 15 4,...
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