Ruangpayoongsak, Niramon: Development of autonomous features and indoor localization techniques for car-like mobile robots. 2006
Inhalt
- Acknowledgements
- Contents
- List of Figures
- List of Tables
- Abstract
- Kurzfassung
- 1 Introduction
- 2 A Survey of Related Works
- 2.1 Robot localization techniques in indoor environment.
- 2.2 Applications of model-based techniques for car-like mobile robots.
- 2.3 Absolute localization techniques based on artificial landmarks.
- 3 The Mobile Experimental Robots for Locomotion andIntelligent Navigation (MERLIN)
- 3.1 Series of MERLIN prototypes
- 3.2 MERLIN Data Communication Structure
- 3.3 Sensors for navigation
- 3.4 Steering and propelling the car-like mobile robots.
- 4 Autonomous Features
- 4.1 Obstacle detection and collision avoidance
- 4.2 An autonomous 180 degree turn in a narrow corridor
- 4.3 Path following in an unknown environment.
- 5 Relative Localization using a Nonlinear Dynamic Model
- 5.1 Robot modelling
- 5.2 The Discrete Extended Kalman Filter (EKF)
- 5.3 Calculating the robot's position and heading.
- 5.4 Experimental results
- 6 Position Calibration using 3D Vision and Artificial Landmark
- 6.1 The measurement characteristics of the 16x16 pixel PMD camera.
- 6.2 The design of the artificial landmark
- 6.3 Landmark recognition
- 6.4 Position calibration
- 7 Improvement for the Resolution of the Position Calibration
- 7.1 The measurement characteristics of 48x64 pixel PMD camera.
- 7.2 The 2D image processing for landmark recognition.
- 7.3 Recognition of the lower part of landmark by using 2D and PMD images.
- 7.4 Experimental results
- 8 Summary and Perspective
- Appendix A: Microcontroller
- Appendix B: Graphic User Interface (GUI)
- Appendix C: PC104
- References