mobile robot control

... obtained after including the unknown obstacle in the data base and starting again the plan- ning [15]. In fact the main penalization due to un- known obstacles is the decreasing of the linear ... coordination of S1 and another elementary behavior of wall-following type including the creation of transition sub-goals develop a second strategy S2. As a matter of fact, the idea...

Ngày tải lên: 23/10/2013, 15:15

... dead-reckoning information. An Page 3 1. Sensors for Dead-reckoning 2. Heading Sensors 3. Active Beacons 4. Sensors for Map-based Positioning Part II: Systems and Methods for Mobile Robot Positioning 5. ... these sensors. The report is organized in 9 chapters. Part I: Sensors for Mobile Robot Positioning A Drive Sense B Drive Sense Part I: Sensors for...

Ngày tải lên: 12/12/2013, 21:16

... 10/19/94 Part I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning Page 14 Figure 1.6: A typical differential-drive mobile robot (bottom view). the kinematic design closely before ... I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning Page 18 Figure 1.9: Bottom (A) and top (B) views of a four-wheel synchro-d...

Ngày tải lên: 16/12/2013, 14:15

... specifications for the 3ARG-D are given in Table 2.1. Specifica- tions for the 3ARG-A are similar. A more detailed discussion of the Autogyro is given 46 Part I Sensors for Mobile Robot Positioning Before ... suitable for mobile robot applications. In this section we introduce two such systems. 2.3.6.1 The Andrew “Autogyro" Andrew Corp. [ANDREW] offers the low-cost A...

Ngày tải lên: 22/12/2013, 20:16

... starting position. 20 Part I Sensors for Mobile Robot Positioning For completeness, we rewrite the well-known equations for odometry below (also, see [Klarer, 1988; Crowley and Reignier, 1992]). Suppose ... Michigan's Mobile Robotics Lab, the HCTL 1100 has been tested and used in many different mobile robot control interfaces. The chip has proven to work reliabl...

Ngày tải lên: 22/12/2013, 20:16

... phơng lên xuống và vào ra, cùng một dụng cụ gỡ xỉ hàn. Hình WSRMR cho ở hình H.1. H.1 Welding Slag Removing Mobile Robot (WSRMR) Dĩa gở xỉ hàn hoạt động theo nguyên tắc giống nh máy ... triển bộ điều khiển để có thể gỡ xỉ hàn cho biên dạng cong bất kỳ. Tài liệu tham khảo [1] Nguyễn Tấn Tiến và đồng sự, Control of Two-Wheeled Welding Mobile Robot: P...

Ngày tải lên: 17/01/2014, 06:20

... equation for minimal slippage is [Holland, 1983] Page 3 1. Sensors for Dead-reckoning 2. Heading Sensors 3. Active Beacons 4. Sensors for Map-based Positioning Part II: Systems and Methods for Mobile ... Part I: Sensors for Mobile Robot Positioning cot cotθθ SA i d l =+ 2 cot cotθθ SA o d l =− 2 Part I: Sensors for Mobile Robot Positioning Chapter...

Ngày tải lên: 19/01/2014, 19:20

... iron and nickel) and mumetal (iron, nickel, Where am I? Sensors and Methods for Mobile Robot Positioning by J. Borenstein , H. R. Everett , and L. Feng 123 Contributing authors: S. W. Lee and ... Part I Sensors for Mobile Robot Positioning axis n co n cl Waveguide NA ' sin2 c ' n 2 co &n 2 cl 2 1 Numerical aperture Waveguide axis 40 Part I...

Ngày tải lên: 13/02/2014, 09:20

... ROBOTS – CONTROL ARCHITECTURES, BIO-INTERFACING, NAVIGATION, MULTI ROBOT MOTION PLANNING AND OPERATOR TRAINING Edited by Janusz Będkowski Mobile Robots – Control Architectures, Bio-Interfacing, ... system Warlet et al. (2009). 7 Introductory Chapter Mobile Robots – Control Architectures, Bio-Interfacing, Navigation, Multi...

Ngày tải lên: 27/06/2014, 00:20

... & b[2]>B & b[3]>B & b[4]>B] [b[1]<=B & b[2]<=B | a& gt ;A] [b[3]<=B & b[4]<=B | a& gt ;A] [b[1]>B & b[2]>B & b[3]>B & b[4]>B] [eta>=1.5*E] β i π 2 − ... 0 vehicle_v7/Automaton Printed 17−Jan−2003 12:59:12 Driving Rest Q0 Q1 Q2 Q3 Q4 [(b[3]>=B | b[4]>=B) & b[1]<=B & b[2]<=B] [eta<0.9*E] [(b[1]>=B...

Ngày tải lên: 27/06/2014, 18:20

... Mori 1996). A dynamically-controlled, holono mic mobile robot is particularly desirable in a mobile manipulation system for many reasons. A holonomic robot makes for easier gross motion planning and navi- gation. ... Development and Control of a Ho l onomic Mobile Robot for Mobile Manipulation Tasks Robert Holmberg ∗ and Oussama Khatib The Robotics...

Ngày tải lên: 26/10/2014, 14:32

... FLC WITH NON SUM NORMAL FUZZY MEMBERSHIP FUNCTIONS 59 5.3.1 Simulink Model for Robot and Fuzzy Toolbox for Fuzzy Rules 59 5.3.2 Simulink Model for Robot and M-File for Fuzzy Rules 60 5.4 RESULTS ... NORMAL FUZZY MEMBERSHIP FUNCTIONS 61 5.4.1 Zero Time Delay for Fuzzy Logic and Analog Sensor Values 62 5.4.2 Zero Time Delay for Fuzzy Logic and Rounded...

Ngày tải lên: 26/10/2014, 14:35

Ngày tải lên: 26/10/2014, 14:38

... Korea This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking ... be controlled for the end of torch to be Modeling and Motion Control of Mobile Robot for Lattice Type Welding 85 installed for...

Ngày tải lên: 26/10/2014, 14:38