MIT Press Introduction to Autonomous Mobile Robots Part 9 ppsx

... ρ i [m] 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 0.5 197 0.4404 0.4850 0.4222 0.4132 0.4371 0. 391 2 0. 394 9 0. 391 9 0.4276 0.4075 0. 395 6 0.4053 0.4752 0.5032 0.5273 0.48 79 Figure 4.37 Extracted line from laser range measurements ... uncertainty into account explicitly. 4.3.1.3 Range histogram features A histogram is a simple way to combine characteristic ele...

Ngày tải lên: 10/08/2014, 05:20

... R. SIEGWART NOURBAKHSH Autonomous Mobile Robots SIEGWART and NOURBAKHSH Introduction to Introduction to Autonomous Mobile Robots Roland Siegwart and Illah R. Nourbakhsh Mobile robots range from the ... localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to Auto...

Ngày tải lên: 10/08/2014, 05:20

... ultrasonic sensors used by mobile robots have an effective range of roughly 12 cm to 5 m. The published accuracy of com- mercial ultrasonic sensors varies between 98 % and 99 .1%. In mobile robot applications, specific ... sensitive to light between 400 and 1000 nm wavelength. It is important to remember that photodiodes are less sensitive to the ultraviolet end of the spectru...

Ngày tải lên: 10/08/2014, 05:20

... on the top of EPFL’s STeam Engine soccer robots enable a color-tracking sensor to locate the robots and the ball in the soccer field. 128 Chapter 4 (4.23) Intuitively, point contributes to the ... ring. For this reason this method has not been applied to mobile robots. A variation of the depth from focus technique has been applied to a mobile robot, dem- onstrating obstacle...

Ngày tải lên: 10/08/2014, 05:20

... such histograms as whole-image features, we need ways to compare to histograms to quantify the likelihood that the histograms map to nearby robot positions. The problem of defining useful histogram ... local feature extractor used by the mobile robotics community is the edge detector, and so we begin with a discussion of this classic topic in computer vision. However, mobile robo...

Ngày tải lên: 10/08/2014, 05:20

... are partic- ularly appropriate for study given their significant recent successes in enabling mobile robots to navigate a variety of environments, from academic research buildings, to factory floors, ... coordinate space. This is similar to the method used by Latombe [21, 98 ] and others to represent environments for mobile robot path-planning techniques. In the case of [21, 9...

Ngày tải lên: 10/08/2014, 05:20

... to the left, 0 .9. The likelihood for being at state 2 is then . In addition, 1-2 progresses to state 4 with a certainty factor of , which is added to the certainty factor above to bring the total ... the environment [88, 116, 1 19] and the other using a geometric grid-based map [ 49, 50]. µ σ Mobile Robot Localization 2 09 the potential to be both compact like a topological repr...

Ngày tải lên: 10/08/2014, 05:20