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Author: Patrick Gerard Byrne
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
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:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
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:
ISBN:
Category :
Languages : en
Pages : 95
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Book Description
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: John J. Leonard
Publisher: Springer Science & Business Media
ISBN: 1461536529
Category : Technology & Engineering
Languages : en
Pages : 199
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Book Description
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: General Motors Corporation. Research Laboratories. Computer Science Department
Publisher:
ISBN:
Category : Robots, Industrial
Languages : en
Pages : 11
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Author: Amitava Chatterjee
Publisher: Springer
ISBN: 3642339654
Category : Technology & Engineering
Languages : en
Pages : 235
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Book Description
This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.
Author:
Publisher:
ISBN:
Category : Prosthesis
Languages : en
Pages : 584
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Author: Solomon Rand Sherfey
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Author: Bruno Siciliano
Publisher: Springer
ISBN: 3319325523
Category : Technology & Engineering
Languages : en
Pages : 2259
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Book Description
The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Author: H.R. Everett
Publisher: CRC Press
ISBN: 1439863482
Category : Computers
Languages : en
Pages : 543
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Book Description
The author compiles everything a student or experienced developmental engineer needs to know about the supporting technologies associated with the rapidly evolving field of robotics.From the table of contents: Design Considerations * Dead Reckoning * Odometry Sensors * Doppler and Inertial Navigation * Typical Mobility Configurations * Tactile and
Author:
Publisher:
ISBN:
Category : Disabled veterans
Languages : en
Pages : 956
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Book Description
