로봇공학- Autonomous Mobile Robots (이동로봇공학)
- 최초 등록일
- 2019.03.26
- 최종 저작일
- 2017.03
- 6페이지/ MS 워드
- 가격 1,500원
목차
1.Dead Reckoning Localisation
2.Motion Control (Part 1)
3.Motion Control (Part 2)
4.Obstacle Avoidance
본문내용
The localisation method used in this procedure is motion based localisation. This localisation method uses the value of IMU and encoder value stored inside the robot. The equation proved in chapter 6 of [1] suggest that the localisation done though Specify the mean .
While s_(k-1) is previous mean position, ∆t is sampling time, V_k is velocity of the robot, ω_kis angular velocity of the robot. And then, Specify the covariance of the position, While Σ_(k-1) is previous covariance of the position, Q_k is motion uncertainty covariance, H_k is Jacobian matrix of the robot. Implementing above equation into simulation on Matlab, the resulting trajectory of the robot is shown in figure 1. The experiment went through running the robot strait for 10sec. In above figure, the red dot line is actual trajectory, the blue dot line is estimated Robot path, and blue circle is showing the xy covariance of the robot. In the experiment, it showed that difference between true robot path and estimated path increases as times goes on.
참고 자료
A. Stancu, “Autonomus Mobile Robots (AMR) Coursework 1,” University of Manchester, Manchester, 2017.
M. M. Alexandru Stancu, Autonomus Mobile Robots, Manchester: The University of Manchester, 2017.