Mobile Robots Perception & Navigation Part 2 potx

... () () () () 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 ... by the navigation algorithms. 0 0 .2 0.4 0.6 0.8 1 1 .2 1.4 1.6 1.8 2 -2 0 2 4 6 y [m] t [s] Navigation in lateral direction 0 0...

Ngày tải lên: 11/08/2014, 16:22

... (Gray lines represent two-sigma (2 σ) uncertainly bounds.) 5 42 Mobile Robots, Perception & Navigation edition, 1998. [ 32] D. Rus and M. Vona, Crystalline robots: self-reconfiguration with ... 35, (20 02) , pp 22 1 -24 5. 18. Ip, Y.L., Studies on Map Building and Exploration Strategies for Autonomous Mobile Robots (AMR), PhD. Dissertation, In The Hong Kong Polytechnic...

Ngày tải lên: 11/08/2014, 16:22

... R2. At all points between C21 and C 22 R2 can have a potential collision with R1. C21 and C 22 are at distances () () 21 cos21 θθ −+ ecrr on either side of C. The time taken by R2 to reach C21 ... and lower control velocities 21 ,vv that are used for resolving conflicts. In other words 2, 1 121 1 RforvvRforvv ll εε <−<− and similarly εε <−<− 22 21 , vvvv hh where...

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... three Euclidean points a 1 ,a 2 ,a 3 their 2- simplex define a dual 3-plane in CGA that canbe expressedas ( 52) 22 Mobile Robots, Perception & Navigation (1) 2. 1 Conformal Geometric Algebra ... then as a translation (22 ) and a rotation (23 ) Combining equations (7, 8) with equations (22 , 23 ), sensed data can be expressed in shape space as (24 ) (25 ) (26 )...

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... » » ¼ º « « ¬ ª = 22 22 000 000 yyx yxx x R σσ σσ (10) where, using a first order expansion: 00 2 0 22 ²sin²²cos 000 θρσθσσ θρ += x 00 2 0 22 ²cos²²sin 000 θρσθσσ θρ += y (11) 82 Mobile Robots, Perception & ... x p1 () () )( )()( 2 2 1 1 vv vp vp xBxx xx xBxB y +− − − = x p1  x  x v () () )( )()( 2 2 2 2 vv vp vp xBxx xx xBxB y +− − − = x v  x  x p2 () () )...

Ngày tải lên: 11/08/2014, 16:22

... Robotica, Vol .22 , pp. 21 3- 22 1, ISSN 026 3-5747 Shinoda, H. (20 02) . Contact sensing, a state of the art, Trans. of Japanese Robotic Society, Vol .20 , No.4 , pp385-388, ISSN 028 9-1 824 (in Japanese) ... general-purpose use. The hemispherical 122 Mobile Robots, Perception & Navigation tactile sensor is mounted on the fingertips of a multi-fingered hand (Ohka, M. et al...

Ngày tải lên: 11/08/2014, 16:22

... planning, IEEE Trans. Systems, Man, and Cybernetics, Vol. 22 , No. 2, (March/April 19 92) , pp. 22 4 -24 1. Brock, O. & Khatib, O. (1999). High-speed navigation using the global dynamic window approach, ... been efficiently corrected by the Extended Kalman Filter. 24 2 Mobile Robots, Perception & Navigation ( ) ( ) ȟ ªº «» ¬¼ U() 22 temp temp temp ggg x,y = x - x +...

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... Mobile Robots, 91- 122 . Konolige, K. & Myers, K. (1998). The Saphira architecture for autonomous mobile robots. Artificial Intelligence and Mobile Robots, pp. 21 1 -24 2 Liu, Y.; Emery, R.; ... 300 Mobile Robots, Perception & Navigation environment representations: maps built up of isolated landmarks observed in the environment (Guivant et al., 20 02; Neira &a...

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... 339 0 100 20 0 300 400 -2 0 2 voltage 1 Experiment (with faults) 0 100 20 0 300 400 -2 0 2 voltage 2 B 0 100 20 0 300 400 -2 0 2 voltage 3 0 100 20 0 300 400 -2 0 2 time [sec] voltage 4 0 100 20 0 300 ... the 20 02 IEEE International Conference on Robotics and Automation, ICRA 20 02, pp. 27 31 -27 36, ISBN 0-7803- 727 2-7, Washington DC, May 20 02, IEEE. Guivant...

Ngày tải lên: 11/08/2014, 16:22

... () () () () ° ° ¯ ° ° ®  >− − =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 integrating ... () () () ° ° ¯ ° ° ®  > ¸ ¸ ¹ · ¨ ¨ © § −− − +=σ ≤+=σ σ∩σ=σ − − c i i c i 2 i c ii i 1i 2 i c i2 c i i 1i 1 i 2 i 1 ii tt 2 tt 2 t tt tt A vt' tt t t2 A vt' ;t't...

Ngày tải lên: 11/08/2014, 16:22