MIT Press Introduction to Autonomous Mobile Robots Part 4 potx
MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 4 potx
... robot both in order to design appro-
priate mobile robots for tasks and to understand how to create control software for an
instance of mobile robot hardware.
Of course, mobile robots are not the ... θ()ξ
·
I
0=
β
Y
R
α
β
+()sin
0
=
βα
–=
M
ξ
I
·
N
N
f
N
s
β
s
t()
N
s
β
f
N
f
ϕ
f
t()
ϕ
s
t()
ϕ
t()
48 Chapter 3
mobile robot is a self-contained automaton that can wholly move...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 13 potx
... (figure 5.27).
We can now rewrite equations (5.38) and (5.39) using equations (5 .42 ) and (5 .43 ).
(5 .44 )
(5 .45 )
k
k
1
+
d
x
dt
uw+=
k
σ
k
2
σ
w
2
k′
x
ˆ
k′
x
ˆ
k
ut
k 1+
t
k
–()+=
σ
k′
2
σ
k
2
σ
w
2
t
k ... section 5.2 .4] :
(5 .47 )
This allows us to predict the robot’s position and its uncertainty after a movement spec-
ified by the control input . Note that the belief state i...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots part 1 doc
... 317
Autonomous
Mobile Robots
Introduction to
Roland
Illah R.
SIEGWART
NOURBAKHSH
Autonomous Mobile Robots
SIEGWART and NOURBAKHSH
Introduction to
Introduction to Autonomous Mobile Robots
Roland Siegwart ... localization strategies, autonomous mapping, and navigation
competence. Bringing together all aspects of mobile robotics into one volume,
Introduction...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots part 2 pptx
... local-
ization. The final part of chapter 5 is devoted to a discussion of the challenges and most
promising techniques for mobile robots to autonomously map their surroundings.
Mobile robotics is so ... 2.2)
movement
pendulum
Oscillatory
of a multi-link
movement
pendulum
8 Chapter 1
For example, AGV (autonomous guided vehicle) robots (figure 1.8) autonomously
deliver parts betw...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 3 pdf
... faced by different mobile robots.
So you will see great variety in the wheel configurations of mobile robots. In fact, few
robots use the Ackerman wheel configuration of the automobile because of ... sufficiently high torque to sup-
port the robot, yet back drivable for safety. In addition to developing custom motors and
software, Sony incorporated a color vision system that enab...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 7 pot
... between transmitter
and receiver according to
(4. 15)
if the transmitter is moving and
(4. 16)
if the receiver is moving.
In the case of a reflected wave (figure 4. 16b) there is a factor of 2 introduced, ... sensitive to light between 40 0 and 1000 nm wavelength.
It is important to remember that photodiodes are less sensitive to the ultraviolet end of the
spectrum (e.g., blue) and...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 8 pot
... In this case the optical
v
0
v
i
v
i
v
0
140 Chapter 4
(4. 41)
from which we can abbreviate
; (4. 42)
and
; ; (4. 43)
so that we obtain
(4. 44)
The derivative represents how quickly the intensity ... interactively to achieve the best performance.
The resulting problem then amounts to the calculus of variations, and the Euler equa-
tions yield
(4. 47)
(4. 48)
where
(4. 49)
which...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 9 ppsx
... ρ
i
[m]
0
5
10
15
20
25
30
35
40
45
50
55
60
65
70
75
80
0.5197
0 .44 04
0 .48 50
0 .42 22
0 .41 32
0 .43 71
0.3912
0.3 949
0.3919
0 .42 76
0 .40 75
0.3956
0 .40 53
0 .47 52
0.5032
0.5273
0 .48 79
Figure 4. 37
Extracted line from laser range measurements ... Vision
Tools in Computer Vision
158 Chapter 4
Table 4. 2
Measured values
pointing angle of sensor θ
i
[deg]
ra...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 10 pptx
... such histograms as whole-image features, we need ways to compare
to histograms to quantify the likelihood that the histograms map to nearby robot positions.
The problem of defining useful histogram ... the image
about to be processed.
To do this, a histogram of the gradient magnitudes of the processed image is calculated
(figure 4. 47). With this simple histogram it is easy to...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 11 doc
... are partic-
ularly appropriate for study given their significant recent successes in enabling mobile
robots to navigate a variety of environments, from academic research buildings, to factory
floors, ... 5.16.
Figure 5. 14
Example of exact cell decomposition.
goal
start
1
7
2
3
4
5
6
8
9
10
11
12
13
14
15
17
16
18
Mobile Robot Localization 199
explicit reasoning about the effec...