Research On The Sonar Hardware System On An Autonomous Mobile Robot PDF Download

Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Research On The Sonar Hardware System On An Autonomous Mobile Robot PDF full book. Access full book title Research On The Sonar Hardware System On An Autonomous Mobile Robot.

Research on the Sonar Hardware System on an Autonomous Mobile Robot

Research on the Sonar Hardware System on an Autonomous Mobile Robot
Author: Masakuni Michiue
Publisher:
Total Pages: 0
Release: 1994
Genre:
ISBN:
GET BOOK

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.

Research on the Sonar Hardware System on an Autonomous Mobile Robot

Research on the Sonar Hardware System on an Autonomous Mobile Robot
Author: Masakuni Michiue
Publisher:
Total Pages: 58
Release: 1994
Genre:
ISBN:
GET BOOK

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.

Analysis and Improvement of an Ultrasonic Sonar System on an Autonomous Mobile Robot

Analysis and Improvement of an Ultrasonic Sonar System on an Autonomous Mobile Robot
Author: Jane Thayer Lochner
Publisher:
Total Pages: 107
Release: 1994
Genre:
ISBN:
GET BOOK

Download Analysis and Improvement of an Ultrasonic Sonar System on an Autonomous Mobile Robot Book in PDF, ePub and Kindle

This research addresses the problems experienced by the autonomous mobile robot, Yamabico- 11, with its ultrasonic sonar system. It explains the basics of acoustic theory as related to Yamabico- 11 and explains the sources of limitations imposed on Yamabico- 11 by the physical nature of the problem. This paper documents the basic characteristics of the sonar hardware and examines causes of sonar range errors. Finally, this research leads to improvements of the current sonar system to provide better directional coverage through a new sonar configuration.

Masters Theses in the Pure and Applied Sciences

Masters Theses in the Pure and Applied Sciences
Author: Wade H. Shafer
Publisher: Springer Science & Business Media
Total Pages: 341
Release: 2012-12-06
Genre: Science
ISBN: 1461559693
GET BOOK

Download Masters Theses in the Pure and Applied Sciences Book in PDF, ePub and Kindle

Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Data Analysis and Synthesis (CINDAS)* at Purdue University in 1957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dis semination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thought that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this jOint undertaking we had concluded that it was in the interest of all concerned if the printing and distribution of the volumes were handled by an international publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Corporation of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 40 (thesis year 1995) a total of 10,746 thesis titles from 19 Canadian and 144 United States universities. We are sure that this broader base for these titles reported will greatly enhance the value of this impor tant annual reference work. While Volume 40 reports theses submitted in 1995, on occasion, certain uni versities do report theses submitted in previous years but not reported at the time.

Directed Sonar Sensing for Mobile Robot Navigation

Directed Sonar Sensing for Mobile Robot Navigation
Author: John J. Leonard
Publisher: Springer Science & Business Media
Total Pages: 199
Release: 2012-12-06
Genre: Technology & Engineering
ISBN: 1461536529
GET BOOK

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.

A Mobile Robot Sonar System with Obstacle Avoidance

A Mobile Robot Sonar System with Obstacle Avoidance
Author: Patrick Gerard Byrne
Publisher:
Total Pages: 0
Release: 1994
Genre:
ISBN:
GET BOOK

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.

Designing Autonomous Mobile Robots

Designing Autonomous Mobile Robots
Author: John M. Holland
Publisher: Elsevier
Total Pages: 355
Release: 2004-01-24
Genre: Computers
ISBN: 0080477186
GET BOOK

Download Designing Autonomous Mobile Robots Book in PDF, ePub and Kindle

Designing Autonomous Mobile Robots introduces the reader to the fundamental concepts of this complex field. The author addresses all the pertinent topics of the electronic hardware and software of mobile robot design, with particular emphasis on the more difficult problems of control, navigation, and sensor interfacing. Covering topics such as advanced sensor fusion, control systems for a wide array of application sensors and instrumentation, and fuzzy logic applications, this volume is essential reading for engineers undertaking robotics projects as well as undergraduate and graduate students studying robotic engineering, artificial intelligence, and cognitive science. Its state-of-the-art treatment of core concepts in mobile robotics helps and challenges readers in exploring new avenues in an exciting field. Authored by a well-known pioneer of mobile robotics Learn how to approach the design of and complex control system with confidence

A Mobile Robot Sonar System with Obstacle Avoidance

A Mobile Robot Sonar System with Obstacle Avoidance
Author: Patrick Gerard Byrne
Publisher:
Total Pages: 95
Release: 1994
Genre:
ISBN:
GET BOOK

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.

Engineering Autonomous Vehicles and Robots

Engineering Autonomous Vehicles and Robots
Author: Shaoshan Liu
Publisher: John Wiley & Sons
Total Pages: 237
Release: 2020-03-04
Genre: Computers
ISBN: 1119570549
GET BOOK

Download Engineering Autonomous Vehicles and Robots Book in PDF, ePub and Kindle

Offers a step-by-step guide to building autonomous vehicles and robots, with source code and accompanying videos The first book of its kind on the detailed steps for creating an autonomous vehicle or robot, this book provides an overview of the technology and introduction of the key elements involved in developing autonomous vehicles, and offers an excellent introduction to the basics for someone new to the topic of autonomous vehicles and the innovative, modular-based engineering approach called DragonFly. Engineering Autonomous Vehicles and Robots: The DragonFly Modular-based Approach covers everything that technical professionals need to know about: CAN bus, chassis, sonars, radars, GNSS, computer vision, localization, perception, motion planning, and more. Particularly, it covers Computer Vision for active perception and localization, as well as mapping and motion planning. The book offers several case studies on the building of an autonomous passenger pod, bus, and vending robot. It features a large amount of supplementary material, including the standard protocol and sample codes for chassis, sonar, and radar. GPSD protocol/NMEA protocol and GPS deployment methods are also provided. Most importantly, readers will learn the philosophy behind the DragonFly modular-based design approach, which empowers readers to design and build their own autonomous vehicles and robots with flexibility and affordability. Offers progressive guidance on building autonomous vehicles and robots Provides detailed steps and codes to create an autonomous machine, at affordable cost, and with a modular approach Written by one of the pioneers in the field building autonomous vehicles Includes case studies, source code, and state-of-the art research results Accompanied by a website with supplementary material, including sample code for chassis/sonar/radar; GPS deployment methods; Vision Calibration methods Engineering Autonomous Vehicles and Robots is an excellent book for students, researchers, and practitioners in the field of autonomous vehicles and robots.

Feature-Based Localization in Sonar-Equipped Autonomous Mobile Robots Through Hough Transform and Unsupervised Learning Network

Feature-Based Localization in Sonar-Equipped Autonomous Mobile Robots Through Hough Transform and Unsupervised Learning Network
Author: Jonathan Scott Glennon
Publisher:
Total Pages: 109
Release: 1998-06-01
Genre: Autonomous robots
ISBN: 9781423559610
GET BOOK

Download Feature-Based Localization in Sonar-Equipped Autonomous Mobile Robots Through Hough Transform and Unsupervised Learning Network Book in PDF, ePub and Kindle

As we approach the new millennium, robots are playing an increasingly important role in our everyday lives. Robotics has evolved in industrial and military applications, and unmanned space exploration promises the continued development of ever-more-complex robots. Over the past few decades, research has focused on the development of autonomous mobile robots - robots that can move about without human supervision. This brings with it several problems, however, specifically the problem of localization. How can the robot determine its own position and orientation relative to the environment around it? Various methods of localization in mobile robots have been explored. Most of these methods, however, assume some a priori knowledge of the environment, or that the robot will have access to navigation beacons or Global Positioning Satellites. In this thesis, the foundations for feature-based localization are explored. An algorithm involving the Rough transform of range data and a neural network is developed, which enables the robot to find an unspecified number of wall-like features in its vicinity and determine the range and orientation of these walls relative to itself. Computation times are shown to be quite reasonable, and the algorithm is applied in both simulated and real-world indoor environments.