Mobile Robots Perception & Navigation Part 1 ppsx

... available from the German Library. Mobile Robots, Perception & Navigation, Edited by Sascha Kolski p. cm. ISBN 3-86 611 -283 -1 1. Mobile Robotics. 2. Perception. 3. Sascha Kolski Visually ... trajectory. 24 Mobile Robots, Perception & Navigation (18 ) Since , we can rewrite the formula above in terms of homogeneous coordinates as (19 ) Since x c · e  = ï...

Ngày tải lên: 11/08/2014, 16:22

... force. Fig. 12 . Variation in integrated gray scale value under applying shearing force. 14 8 Mobile Robots, Perception & Navigation survey-, Mechatronics, Vol.9, pp .1- 31, ISSN 0957- 415 8 Maeno, ... IP s S picture image s S Controller K * s S + - 12 0 Mobile Robots, Perception & Navigation Fig. 10 . A micro three-axis tactile sensor system. Fig. 11 . Relatio...

Ngày tải lên: 11/08/2014, 16:22

... () () () () VIII VIII VIII VRIIRI TKTKT VKVKV KK xKxKx ′ −+ ′ = ′′ −+ ′ = ′′ −+ ′ = −+= 1 1 1 1 &&& &&& &&& ωωω . (14 ) 40 Mobile Robots, Perception & Navigation (98) where s and t are real parameters in the range [0, 1] . Such parameterization ... the value [] T xxxxxx 332 211 Δ+Δ+Δ+ , there would exist the shift of an image of referen...

Ngày tải lên: 11/08/2014, 16:22

... No. 3, October 19 99, pp. 17 9 -19 0. Crowley, J. (19 85). Navigation for an intelligent mobile robot, IEEE Journal of Robotics and Automation, vol. RA -1, No. 1, March 19 85, pp. 31- 41. Dror, I.; ... extraction in pattern recognition, Pattern Recognition, Vol. 1, No. 1, July 19 68, pp. 3 -11 . 10 2 Mobile Robots, Perception & Navigation conflicts and ambiguities...

Ngày tải lên: 11/08/2014, 16:22

... al., 19 90; Levitt & Lawton, 19 90; Cox, 19 91; Barshan & Durrant-Whyte, 19 95; Kobayashi et al., 19 95; Thrun et al., 19 98; Sukkarieh et al., 19 99; Roumeliotis & Bekey, 2000; 258 Mobile ... 264 Mobile Robots, Perception & Navigation Fig. 1. Global architecture of the SIRAPEM System This chapter describes the navigation module of the SIRAPEM project, .....

Ngày tải lên: 11/08/2014, 16:22

... and Mobile Robots, 91- 122. Konolige, K. & Myers, K. (19 98). The Saphira architecture for autonomous mobile robots. Artificial Intelligence and Mobile Robots, pp. 211 -242 Liu, Y.; Emery, ... Thrun, S.; Gutmann, J.; Fox, D.; Burgard, W. & Kuipers, B. (19 98). Integrating topological 284 Mobile Robots, Perception & Navigation Fig. 11 . Example of exploration...

Ngày tải lên: 11/08/2014, 16:22

... 347 0 5 10 15 5 10 15 20 surge pos [m] 0 5 10 15 0 5 10 15 sway pos [m] 0 5 10 15 -10 -5 0 5 heave pos [m] 0 5 10 15 -10 0 0 10 0 roll pos [deg] 0 5 10 15 -10 0 0 10 0 pitch pos [deg] 0 5 10 15 0 10 0 200 yaw ... -1 0 1 10 15 20 0 5 10 z pos [m] x pos [m] y pos [m] 0 5 10 15 8 10 12 14 16 time [sec] x pos [m] 0 5 10 15 2 4 6 8 10 time [sec]...

Ngày tải lên: 11/08/2014, 16:22

... t ˆ tif 1i 2 c 1i fin k1i c 1i 3 fin k 2 fin k1i c 1i1i fin k1i1i ini k1i c 1i fin k fin k1i1i ini k1i c 1i fin k +−− − −−=> −−=≤ −− −− (68) The WMR’s position at the end of i1 Sg, s ˆ i , is ... () () () () ° ° ¯ ° ° ®  >− − =σ ≤=σ σ∩σ=σ c ii c ii i 2 i c i c i i 1 i 2 i 1 ii tt tt tt A t'' tt t t A t'' ;t''t''t'' (46) By inte...

Ngày tải lên: 11/08/2014, 16:22

... and dummy element 12 345678 910 111 213 140 scan 87 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 2 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 1 0 0 Table 5. The ... M x Error y Error x Error y Error 5 0 .18 02 0 .18 99 0 .18 02 0 .18 99 8 0 .13 46 0 .15 73 0 .13 89 0 .16 23 10 0 .10 25 0 .13 89 0 .11 01 0 .14 75 13 0.0834 0 .10...

Ngày tải lên: 11/08/2014, 16:22

... y=(r x 1 cos s (t 1 ) 2 cos s (t 2 ))m 1 +(r y 1 cos s (t 1 ) 2 sin s (t 2 ))m 2 +(r z 1 sin s (t 1 ))m 3 + y o z=(r x 1 cos s (t 1 ) 2 cos s (t 2 ))n 1 +(r y 1 cos s (t 1 ) 2 sin s (t 2 ))n 2 +(r z 1 sin s (t 1 ))n 3 +z o -Ǒ/2t 1 Ǒ/2; 0t 2 2Ǒ. ( 61) 452 Mobile Robots, Perception ... vertexes are: V 0 =(-5, -10 ,- 15 ), V 1 =(20 ,15 , -15 ), V 2 =(5...

Ngày tải lên: 11/08/2014, 16:22