Where am I? Sensors and Methods for Mobile Robot Positioning

More documents

Recommendations

Info

172 Part II Systems and Methods for Mobile Robot Positioning 6.4 Summary We summarize the general characteristics of active beacon systems as follows: & The environment needs to be modified, and some systems require electric outlets or battery maintenance for stationary beacons. & A line of sight between transmitter and detector needs to be maintained, i.e., there must be at least two or three visible landmarks in the environment. & Triangulation-based methods are subject to the limitations of triangulation as discussed by Cohen and Koss [1992]. & Active beacon systems have been proven in practice, and there are several commercial systems available using laser, infrared, and ultrasonic transducers. & In practice, active beacon systems are the choice when high accuracy and high reliability are required.
CHAPTER 7 LANDMARK NAVIGATION Landmarks are distinct features that a robot can recognize from its sensory input. Landmarks can be geometric shapes (e.g., rectangles, lines, circles), and they may include additional information (e.g., in the form of bar-codes). In general, landmarks have a fixed and known position, relative to which a robot can localize itself. Landmarks are carefully chosen to be easy to identify; for example, there must be sufficient contrast to the background. Before a robot can use landmarks for navigation, the characteristics of the landmarks must be known and stored in the robot's memory. The main task in localization is then to recognize the landmarks reliably and to calculate the robot's position. In order to simplify the problem of landmark acquisition it is often assumed that the current robot position and orientation are known approximately, so that the robot only needs to look for landmarks in a limited area. For this reason good odometry accuracy is a prerequisite for successful landmark detection. The general procedure for performing landmark-based positioning is shown in Figure 7.1. Some approaches fall between landmark and map-based positioning (see Chap. 8). They use sensors to sense the environment and then extract distinct structures that serve as landmarks for navigation in the future. These approaches will be discussed in the chapter on map-based positioning techniques. Acquire sensory information 1,2 Notes: Detect and 4 Calculate segment position 5,6 landmarks 3,4 Feng1pos.ds4; .wmf Figure 7.1: General procedure for landmark-based positioning. Our discussion in this chapter addresses two types of landmarks: “artificial” and “natural.” It is important to bear in mind that “natural” landmarks work best in highly structured environments such as corridors, manufacturing floors, or hospitals. Indeed, one may argue that “natural” landmarks work best when they are actually man-made (as is the case in highly structured environments). For this reason, we shall define the terms “natural landmarks” and “artificial landmarks” as follows: natural landmarks are those objects or features that are already in the environment and have a function other than robot navigation; artificial landmarks are specially designed objects or markers that need to be placed in the environment with the sole purpose of enabling robot navigation.
Page 2 and 3:
7KH8QLYHUVLW\RI0LFKLJDQ Where am I
Page 4 and 5:
Acknowledgments This research was s
Page 6 and 7:
2.4.2.2 Watson Gyrocompass ........
Page 8 and 9:
6.4 Summary .......................
Page 10 and 11:
INTRODUCTION Leonard and Durrant-Wh
Page 12 and 13:
Part I Sensors for Mobile Robot Pos
Page 14 and 15:
14 Part I Sensors for Mobile Robot
Page 16 and 17:
Page 18 and 19:
Page 20 and 21:
Page 22 and 23:
Page 24 and 25:
Page 26 and 27:
Page 28 and 29:
Page 30 and 31:
CHAPTER 2 HEADING SENSORS Heading s
Page 32 and 33:
Page 34 and 35:
Page 36 and 37:
Page 38 and 39:
Page 40 and 41:
Page 42 and 43:
6 42 Part I Sensors for Mobile Robo
Page 44 and 45:
Page 46 and 47:
Page 48 and 49:
Page 50 and 51:
Page 52 and 53:
Page 54 and 55:
Page 56 and 57:
Page 58 and 59:
Page 60 and 61:
Page 62 and 63:
Page 64 and 65:
Excitation actuator Metglas reed Tu
Page 66 and 67:
Page 68 and 69:
Page 70 and 71:
Page 72 and 73:
Page 74 and 75:
Page 76 and 77:
Page 78 and 79:
Page 80 and 81:
Page 82 and 83:
Page 84 and 85:
Page 86 and 87:
Page 88 and 89:
Page 90 and 91:
Page 92 and 93:
Page 94 and 95:
Page 96 and 97:
Page 98 and 99:
Page 100 and 101:
Page 102 and 103:
Page 104 and 105:
Page 106 and 107:
Page 108 and 109:
Page 110 and 111:
Page 112 and 113:
Page 114 and 115:
Page 116 and 117:
Page 118 and 119:
Page 120 and 121:
Page 122 and 123: 122 Part I Sensors for Mobile Robot
Page 130 and 131: CHAPTER 5 ODOMETRY AND OTHER DEAD-R
Page 132 and 133: 132 Part II Systems and Methods for
Page 178 and 179: R e t r o r e f l e c t i v e m a r
Page 184 and 185: CHAPTER 8 MAP-BASED POSITIONING Map
Page 218 and 219: 218 Appendices, References, Indexes
Page 220 and 221: 220 Appendices, References, Indexes
Page 222 and 223:
Systems-at-a-Glance Tables Odometry
Page 224 and 225:
Systems-at-a-Glance Tables Global N
Page 226 and 227:
Systems-at-a Glance Tables Beacon N
Page 228 and 229:
Systems-at-a-Glance Tables Landmark
Page 230 and 231:
Page 232 and 233:
Page 234 and 235:
This page intentionally left blank
Page 236 and 237:
REFERENCES 1. Abidi, M. and Chandra
Page 238 and 239:
238 References 31. Boltinghouse, S.
Page 240 and 241:
240 References MOBOT-IV.” Proceed
Page 242 and 243:
242 References 90. Dahlin, T. and K
Page 244 and 245:
244 References 120. Fisher, D., Hol
Page 246 and 247:
246 References 156. Janet, J., Luo,
Page 248 and 249:
248 References 187. Larsson, U., Ze
Page 250 and 251:
250 References 220. Nolan, D.A., Bl
Page 252 and 253:
252 References 249. Sanders, G.A.,
Page 254 and 255:
254 References 278. Turpin, D.R., 1
Page 256 and 257:
256 References 309. EATON - Eaton-K
Page 258 and 259:
258 References 349. SPSi - Spatial
Page 260 and 261:
260 References 380. MacKenzie, P. a
Page 262 and 263:
262 Index AC ..............47, 59,
Page 264 and 265:
264 Index Datums ..................
Page 266 and 267:
266 Index glass ...................
Page 268 and 269:
268 Index lateral-post ............
Page 270 and 271:
270 Index NPN .....................
Page 272 and 273:
272 Index signal ..... 17, 31, 38,
Page 274 and 275:
274 Index Abidi ...................
Page 276 and 277:
276 Index Kak .....................
Page 278 and 279:
278 Index Weiman ..................
Page 280 and 281:
280 Index Video Index This CD-ROM c
Page 282:
282 Index Paper 52 Paper 53 Paper 5
show all

Where am I? Sensors and Methods for Mobile Robot Positioning

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?