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Author | : John J. Leonard |
Publisher | : Springer Science & Business Media |
Total Pages | : 199 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1461536529 |
Download Directed Sonar Sensing for Mobile Robot Navigation Book in PDF, ePub and Kindle
This monograph is a revised version of the D.Phil. thesis of the first author, submitted in October 1990 to the University of Oxford. This work investigates the problem of mobile robot navigation using sonar. We view model-based navigation as a process of tracking naturally occurring environment features, which we refer to as "targets". Targets that have been predicted from the environment map are tracked to provide that are observed, but not predicted, vehicle position estimates. Targets represent unknown environment features or obstacles, and cause new tracks to be initiated, classified, and ultimately integrated into the map. Chapter 1 presents a brief definition of the problem and a discussion of the basic research issues involved. No attempt is made to survey ex haustively the mobile robot navigation literature-the reader is strongly encouraged to consult other sources. The recent collection edited by Cox and Wilfong [34] is an excellent starting point, as it contains many of the standard works of the field. Also, we assume familiarity with the Kalman filter. There are many well-known texts on the subject; our notation derives from Bar-Shalom and Fortmann [7]. Chapter 2 provides a detailed sonar sensor model. A good sensor model of our approach to navigation, and is used both for is a crucial component predicting expected observations and classifying unexpected observations.
Author | : Patrick Gerard Byrne |
Publisher | : |
Total Pages | : 0 |
Release | : 1994 |
Genre | : |
ISBN | : |
Download A Mobile Robot Sonar System with Obstacle Avoidance Book in PDF, ePub and Kindle
The major problem addressed by this research is how to allow an autonomous vehicle to dynamically recognize changes in its environment, to map its environment, and alter its path to avoid obstacles while still reaching its goal point. The approach taken was to modify existing sonar functions in previous work, to better utilize sonars, and to perform many experiments to determine what data to expect from sonars while the vehicle is in motion. By applying the linear square fitting algorithm, the robot has the ability to map the objects within sensor range of an autonomous vehicle. The results are that, given an initial and goal point, the robot can proceed on a directed path, utilize its sonar sensor(s) used to detect obstacles, and when an obstacle is detected have the capability to dynamically compute a parallel path and smoothly alter its motion to the parallel path. The robot now has the capability to track the obstacle, and, once clear of the obstacle smoothly alter its motion to a path that will reach its goal point. The ability for the robot to combine smooth motion with obstacle avoidance has now been successfully programmed. Autonomous vehicle, Robot, Obstacle avoidance, Sonar sensing.
Author | : Patrick Gerard Byrne |
Publisher | : |
Total Pages | : 95 |
Release | : 1994 |
Genre | : |
ISBN | : |
Download A Mobile Robot Sonar System with Obstacle Avoidance Book in PDF, ePub and Kindle
The major problem addressed by this research is how to allow an autonomous vehicle to dynamically recognize changes in its environment, to map its environment, and alter its path to avoid obstacles while still reaching its goal point. The approach taken was to modify existing sonar functions in previous work, to better utilize sonars, and to perform many experiments to determine what data to expect from sonars while the vehicle is in motion. By applying the linear square fitting algorithm, the robot has the ability to map the objects within sensor range of an autonomous vehicle. The results are that, given an initial and goal point, the robot can proceed on a directed path, utilize its sonar sensor(s) used to detect obstacles, and when an obstacle is detected have the capability to dynamically compute a parallel path and smoothly alter its motion to the parallel path. The robot now has the capability to track the obstacle, and, once clear of the obstacle smoothly alter its motion to a path that will reach its goal point. The ability for the robot to combine smooth motion with obstacle avoidance has now been successfully programmed. Autonomous vehicle, Robot, Obstacle avoidance, Sonar sensing.
Author | : Barry Steer |
Publisher | : |
Total Pages | : |
Release | : 1988 |
Genre | : Robotics |
ISBN | : |
Download Sonar Techniques for Autonomous Navigation with a Mobile Robot Book in PDF, ePub and Kindle
Author | : Wasintara Thawesawat |
Publisher | : National Library of Canada = Bibliothèque nationale du Canada |
Total Pages | : 108 |
Release | : 2003 |
Genre | : |
ISBN | : 9780612851061 |
Download Sonar Mapping for Mobile Robot Navigation Using Occupancy Grids with Guiding Vectors [microform] Book in PDF, ePub and Kindle
Author | : |
Publisher | : |
Total Pages | : |
Release | : 1997 |
Genre | : |
ISBN | : |
Download Possibilistic Sonar Modeling and Localization for Mobile Robots Book in PDF, ePub and Kindle
Author | : |
Publisher | : |
Total Pages | : 53 |
Release | : 2006 |
Genre | : Autonomous robots |
ISBN | : |
Download Sonar Sensor for an Autonomous Mobile Robot Book in PDF, ePub and Kindle
Author | : Solomon Rand Sherfey |
Publisher | : |
Total Pages | : 0 |
Release | : 1991 |
Genre | : |
ISBN | : |
Download A Mobile Robot Sonar System Book in PDF, ePub and Kindle
Author | : |
Publisher | : CRC Press |
Total Pages | : 1142 |
Release | : |
Genre | : |
ISBN | : 1135439621 |
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Author | : Masakuni Michiue |
Publisher | : |
Total Pages | : 0 |
Release | : 1994 |
Genre | : |
ISBN | : |
Download Research on the Sonar Hardware System on an Autonomous Mobile Robot Book in PDF, ePub and Kindle
The autonomous mobile robot, Yamabico-11, recognizes distance from obstacles by transmit and receive sonar pair. However, the current sonar amplification has not been enough to obtain reliable range information. This thesis describes to improve the sonar analog circuits on the autonomous mobile robot so that they obtain more robust range information. One improvement was a change in the driving voltage of the transmit transducer from 5 volts to 12 volts which doubles the strength of sonar signal received by the pickup sensor. After changing the voltage source, it was found that there was spillover leakage directly from the transmitter to the receiver transducer. The amplifier sensitivity was decreased for the first one millisecond to reduce the spillover.