Mobile robot navigation environment representation, positioning, and motion planning

... Ø × Ị ĐĨØ ĨỊ ƠÐ ỊỊ Ị ØĨ ĨỊØ ĐĨƯ Ị ĨỊÐÝ Ỉ Ịغ ¾º¾ Ð ×× ¬ Ø ĨỊ Ĩ ỊÚ ƯĨỊĐ ỊØ Ê ƠƯ × ỊØ Ø ĨỊ× Navigation Environment Data Collection Subsystem Data Structure Transformation External Representaion ... ỊÚ ƯĨỊĐ ỊØ Ø ĨỊ ×Ù ×Ý×Ø Đ Ù× ¸ Ø Controller Subsystem Ị Ø ĐĨØ ĨỊ Ø ĨỊ ×Ý×Ø Đº Ø ĨỊ× Ĩ Ø Ø Ơ× Motion Planning Subsystem Ø Ø ×× Ư ÐÝ ×× Ị Ư ƠƯĨ ĨỊØ Ị ỊØ ƯỊ Ð Ư ƠƯ × ỊØ ¹ « Ư Ịغ ĨƯ ÙƯ × ØĨ ĨỊÚ...

Ngày tải lên: 17/09/2015, 17:19

... Main Contributions  Application of Controllability Rank Condition Theorem resulting in a general result on the controllability of nonholonomic robots  Application to multibody mobile robots ... Model   Constraints  G ( q, q, t ) =  ω (q) ⋅ q = Are constraints of the above form nonintegrable /nonholonomic? (integrability) Do constraints of the above form “re...

Ngày tải lên: 26/10/2014, 14:38

... obtained after including the unknown obstacle in the data base and starting again the planning [15] In fact the main penalization due to unknown obstacles is the decreasing of the linear speed of ... to the actual characteristics of the robot This means that the rough and manual tuning of the parameters of the fuzzy controller is replaced by a fine local automatic tuning and...

Ngày tải lên: 23/10/2013, 15:15

... use these sensors The report is organized in chapters Part I: Sensors for Mobile Robot Positioning Page Sensors for Dead-reckoning Heading Sensors Active Beacons Sensors for Map-based Positioning ... equation for minimal slippage is [Holland, 1983] A r' = B r Page 18 Part I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning Figu...

Ngày tải lên: 12/12/2013, 21:16

... use these sensors The report is organized in chapters Part I: Sensors for Mobile Robot Positioning Page Sensors for Dead-reckoning Heading Sensors Active Beacons Sensors for Map-based Positioning ... K2A Navmaster robot (adapted from [Holland, 1983]) Part I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning The dead-reckoning c...

Ngày tải lên: 16/12/2013, 14:15

... The Andrew Autogyro Model 3ARG (Courtesy of [Andrew Corp].) 44 Part I Sensors for Mobile Robot Positioning Table 2.1: Selected specifications for the Andrew Autogyro Navigator (Courtesy of [Andrew ... 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 Autogyro, shown in F...

Ngày tải lên: 22/12/2013, 20:16

... deals with the sensors used in mobile robot positioning, and Part II discusses the methods and techniques that make use of these sensors Mobile robot navigation is a very diverse area, and a useful ... 7KH8QLYHUVLW\RI0LFKLJDQ Where am I? Sensors and Methods for Mobile Robot Positioning by J Borenstein , H R Everett2, and L Feng3 Contributing authors: S...

Ngày tải lên: 22/12/2013, 20:16

... use these sensors The report is organized in chapters Part I: Sensors for Mobile Robot Positioning Page Sensors for Dead-reckoning Heading Sensors Active Beacons Sensors for Map-based Positioning ... K2A Navmaster robot (adapted from [Holland, 1983]) Part I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning The dead-reckoning c...

Ngày tải lên: 19/01/2014, 19:20

... either the inside or outside steering angles (2i or 2o) as follows [Byrne et al., 19 92] : cot2SA ' d % cot2i 2l (1.9) or, alternatively, cot2SA ' cot2o & d 2l (1.10) Ackerman steering provides a fairly ... 22 Part I Sensors for Mobile Robot Positioning cot2i &cot2o' d l (1.8) where 2i = relative steering angle of the inner wheel 2o = relative steering angle of the ... resonators (2. 3.1)...

Ngày tải lên: 10/08/2014, 02:21

... Weight (total) Power 77 dia × 88 mm 3. 0 dia × 3. 5 in 0. 63 1 .38 to 18 630 kg lb VDC mA Figure 2.11: The Andrew Autogyro Model 3ARG (Courtesy of [Andrew Corp].) 44 Part I Sensors for Mobile Robot Positioning ... 2.1.2 .3) based on polarization-maintaining fiber and precision fiber-optic gyroscope technology Model 3ARG-A ($950) comes with an analog output, while model 3ARG-D ($1,100) ha...

Ngày tải lên: 10/08/2014, 02:21

... Frequency E-220B/2 15 E-220B/ 150 E-220B/40 10 - 61 - 24 10 20 - 152 - 60 10 61 - 610 24 - 240 35 ( 15) E-220B/26 Units 61 - 914 cm 24 - 360 in 35 ( 15)  2 15 150 40 Max rep rate Resolution 150 0.076 0.03 ... ranging modules (Courtesy of Polaroid.) Parameter Original SN28827 Maximum range 10 .5 35 10 .5 35 Minimum range* 25 10 .5 56 20 16 20 cm in 16 1.6 2.38 2.38 ms 16 no 12 yes N...

Ngày tải lên: 10/08/2014, 02:21