MIT Press Introduction to Autonomous Mobile Robots Part 13 potx

... of Kalman filter localization. 5.6.3.1 Introduction to Kalman filter theory The basic Kalman filter method allows multiple measurements to be incorporated opti- mally into a single estimate of state. ... the map. These lines are stored in the map and specified in the world coordinate system . Therefore they need to be transformed to the robot frame : (5.63) According to figure (5...

Ngày tải lên: 10/08/2014, 05:20

... 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 ... systems to require such analysis. Robot manipulators have been the subject of intensive study for more than thirty years. In some ways, manipulator robots are much more comple...

Ngày tải lên: 10/08/2014, 05:20

... Links to Mobile Robots 314 Index 317 Autonomous Mobile Robots Introduction to Roland Illah R. SIEGWART NOURBAKHSH Autonomous Mobile Robots SIEGWART and NOURBAKHSH Introduction to Introduction to ... localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to A...

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... 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...

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... 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 ... real-time and new geared servomotors that are of sufficiently high torque to sup- port the robot, yet back drivable for safety. In addition to developing custom motors and software,...

Ngày tải lên: 10/08/2014, 05:20

... motion detector based on the Doppler effect. These sensors represent a well-known technology with decades of general applications behind them. For fast-moving mobile robots such as autonomous highway ... sensitive to light between 400 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 are...

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... on the top of EPFL’s STeam Engine soccer robots enable a color-tracking sensor to locate the robots and the ball in the soccer field. 128 Chapter 4 (4.23) Intuitively, point contributes to the ... ring. For this reason this method has not been applied to mobile robots. A variation of the depth from focus technique has been applied to a mobile robot, dem- onstrating obstacle...

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... by taking uncertainty into account explicitly. 4.3.1.3 Range histogram features A histogram is a simple way to combine characteristic elements of an image. An angle his- togram, as presented in ... refer to [91, 131 ]. For example, one segmentation technique is the merging, or bottom-up technique in which smaller features are identified and then merged together based on decision criteria...

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... 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 ... local feature extractor used by the mobile robotics community is the edge detector, and so we begin with a discussion of this classic topic in computer vision. However, mobile robo...

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... 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, ... involves line extraction. Many indoor mobile robots rely upon laser rangefinding devices to recover distance readings to nearby objects. Such robots can automatically extrac...

Ngày tải lên: 10/08/2014, 05:20