modeling of mobile robot

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... obstacles is the decreasing of the linear speed of the robot. 5. Conclusion We are interested in the navigation of a mobile robot in partially known environment such as inside an of- fice or a flat. In ... motion of a mobile robot in a partially known environment, in: Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, 1993, pp. 545–550. H. Maaref, C. Barret / Robotics ... at the University of Paris XI, Orsay in 1981. Since 1986, he is Professor at the Uni- versity of Evry and he was the Head of Electrical Engineering Department of the Institute of Technology from...

Ngày tải lên: 23/10/2013, 15:15

... State of the Art in Land, Sea, Air, and Collaborative Missions8 4. Historical development of mobile robots 4.1 Evolution from fixed base robotics to mobile robotics Interest in mobile robotics ... specific colours. 5.3 Control of mobile robots 5.3.1 Formation Control A large number of different strategies for formation control of a group of mobile robots can be found in the literature. ... reliability of those same robots. To avoid these problems, the simplification of robots mechatronics will be necessary. Although everyone working on robots acknowledges that, in reality, the design of...

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Ngày tải lên: 26/10/2014, 14:38

... plot of water surface in 2D simulation of Exp-1 …………….95 Figure 6.35 Carpet plot of water surface in 2D simulation of Exp-2…………… 95 Figure 6.36 Carpet plot of water surface in 2D simulation of ... plot of water surface in 2D simulation of Exp-4…………… 96 Figure 6.38 Carpet plot of water surface in 2D simulation of Exp-5…………… 97 Figure 6.39 Carpet plot of water surface in 2D simulation of ... surface profile analysis of open channel flows over a circular surface. Journal of Applied Mechanics, JSCE, Vol. 8, pp 847-854, 2005. 5. Anh T. N. and Hosoda T.: Free surface profile analysis of flows...

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... appropriate for the hardware spec of the robot. If the robot has software as part of the design, the spec should also incorporate an outline appropriate for the software spec. PROJECT MANAGEMENT ... the selection and design of robotic software. The chapter outlines a coordinated approach to the selection of a processor, a battery, a power supply, operating software, and appli- cation software. Included ... representations of positions (as represented in terms of calculus): ■ Position The position, x, of a mass. For springs, the force is proportional to x. ■ Velocity v, the rate of change of position, x, of...

Ngày tải lên: 27/10/2013, 22:15

... in the Implementation of Practical Robotic Systems James Mentz (Abstract) Two areas of expertise required in the production of industrial and commercial robotics are motor control ... the profile. The best way to deal with large disturbances is to recalculate the profile in real-time taking the measured feedback as the initial conditions of the new profile. A better profile ... 4. THE STATE OF MOTION CONTROL ACADEMIA 26 Motor Modeling, Reference Frames, and State Space 26 Control Methodologies 31 Design of a Sliding Mode Velocity Controller 33 Design of a Sliding...

Ngày tải lên: 05/11/2013, 21:15

... application to mobile robot navigation, only those classes of magnetometers which sense the magnetic field of the earth are of interest. Such geomagnetic sensors, for purposes of this discussion, ... Michigan's Mobile Robotics Lab. where A = number of teeth on the power shaft gear B = number of teeth on the wheel axle gear r’ = wheel offset from steering pivot axis r = wheel radius. One drawback of ... variations in terms of the information stored for each arc. Brooks [Brooks, 1985] argues persuasively for the use of topological maps as a means of dealing with uncertainty in mobile robot navigation....

Ngày tải lên: 12/12/2013, 21:16

... measure of goodness -of- fit. When the third item suggests that the model is an unlikely match to the data, then items (i) and (ii) are probably worthless. Unfortunately, many practitioners of parameter ... RECIPES IN C: THE ART OF SCIENTIFIC COMPUTING (ISBN 0-521-43108-5) Copyright (C) 1988-1992 by Cambridge University Press.Programs Copyright (C) 1988-1992 by Numerical Recipes Software. Permission ... based on? The answer to these questions takes us into the subject of maximum likelihood estimators. Given a particular data set of x i ’s and y i ’s, we have the intuitive feeling that some parameter...

Ngày tải lên: 15/12/2013, 04:15

... distribution is often rather poorly realized, if it is realized at all. We are often taught, rather casually, that, on average, measurements will fall within ±σ of the true value 68 percent of the time, ... time, within ±2σ 95 percent of the time, and within ±3σ 99.7 percent of the time. Extending this, one would expect a measurement to be off by 20 only one time out of 2 ì 10 88 .Weall know that ... that the standard deviations σ of these normal distributionsare the same for all points. Then the probability of the data set is the product of the probabilities of each point, P ∝ N  i=1  exp  − 1 2  y i −...

Ngày tải lên: 15/12/2013, 04:15

... problem of fitting a set of N data points (x i ,y i )to a straight-line model y(x)=y(x;a, b)=a+bx (15.2.1) 666 Chapter 15. Modeling of Data Sample page from NUMERICAL RECIPES IN C: THE ART OF SCIENTIFIC ... variance of the linear combination y i − a − bx i of two random variables x i and y i , Var( y i − a − bx i )=Var( y i )+b 2 Var( x i )=σ 2 yi +b 2 σ 2 xi ≡1/w i (15.3.3) The sum of the square of N ... 662 Chapter 15. Modeling of Data Sample page from NUMERICAL RECIPES IN C: THE ART OF SCIENTIFIC COMPUTING (ISBN 0-521-43108-5) Copyright (C) 1988-1992...

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