MIT Press Introduction to Autonomous Mobile Robots Part 15 pdf

... tech- niques are designed to overcome one or more of these limitations. 6.2.2.2 Vector field histogram Borenstein, together with Koren, developed the vector field histogram (VFH) [43]. Their previous ... velocity vector proportional to the field force vector, the robot can be smoothly guided toward the goal, similar to a ball rolling around obstacles and down a hill. However, there are...

Ngày tải lên: 10/08/2014, 05:20

... Links to Mobile Robots 314 Index 317 Autonomous Mobile Robots Introduction to Roland Illah R. SIEGWART NOURBAKHSH Autonomous Mobile Robots SIEGWART and NOURBAKHSH Introduction to Introduction to ... localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to A...

Ngày tải lên: 10/08/2014, 05:20

... motion detector based on the Doppler effect. These sensors represent a well-known technology with decades of general applications behind them. For fast-moving mobile robots such as autonomous highway ... between transmitter and receiver according to (4 .15) if the transmitter is moving and (4.16) if the receiver is moving. In the case of a reflected wave (figure 4.16b) there is a fa...

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

... by taking uncertainty into account explicitly. 4.3.1.3 Range histogram features A histogram is a simple way to combine characteristic elements of an image. An angle his- togram, as presented in ... identifying a specific room in an office building applies to the entire room, but has a location that is spatially limited to the one particular room. In mobile robotics, features play an e...

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, ... involves line extraction. Many indoor mobile robots rely upon laser rangefinding devices to recover distance readings to nearby objects. Such robots can automatically extrac...

Ngày tải lên: 10/08/2014, 05:20