Mobile robot localization by cable-extension transducers. (English) Zbl 0900.70061
Merlet, J.-P. (ed.) et al., Computational kinematics ’95. Proceedings of the 2nd workshop, Sophia Antipolis, France, September 4-6, 1995. Dordrecht: Kluwer Academic Publishers. Solid Mech. Appl. 40, 19-30 (1995).
Summary: This paper discusses a novel technique for reference localization of a wheeled mobile robot (WMR) through the use of cable-extension transducers. The robot’s planar position is determined through triangulation of two transducers. However, restrictions on the orientation of the transducers require the use of pulleys in the overall system design, and these introduce nonlinearity into the equations governing the reference localization. The theoretical process by which Cartesian coordinates for the WMR are obtained is presented as are the computational aspects of the approach. Additionally, the uncertainty inherent to the linear transducer measurements is discussed. d.
For the entire collection see [Zbl 0839.00029].
For the entire collection see [Zbl 0839.00029].
MSC:
| 70B15 | Kinematics of mechanisms and robots |
