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2016 International Conference on Information Technology Systems and Innovation (ICITSI)最新文献

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A study of Monte Carlo localization on robot operating system 机器人操作系统的蒙特卡罗定位研究
2016 International Conference on Information Technology Systems and Innovation (ICITSI) Pub Date : 2016-10-01 DOI: 10.1109/ICITSI.2016.7858235
Fitriatul Aini, A. N. Jati, U. Sunarya
{"title":"A study of Monte Carlo localization on robot operating system","authors":"Fitriatul Aini, A. N. Jati, U. Sunarya","doi":"10.1109/ICITSI.2016.7858235","DOIUrl":"https://doi.org/10.1109/ICITSI.2016.7858235","url":null,"abstract":"Localization is one of the problems that often appears in the world of robotics. Monte Carlo Localization (MCL) are the one of the popular algorithms in localization because easy to implement on issues Global Localization. This algorithm using particles to represent the robot position. MCL can simulated by Robot Operating System (ROS) using robot type is Pioneer3-dx. In this paper we will discuss about this algorithm on ROS, by analyzing the influence of the number particle that are used for localization of the actual robot position.","PeriodicalId":172314,"journal":{"name":"2016 International Conference on Information Technology Systems and Innovation (ICITSI)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129093101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
Three-wheeled omnidirectional robot controller implementation 三轮全向机器人控制器的实现
2016 International Conference on Information Technology Systems and Innovation (ICITSI) Pub Date : 2016-10-01 DOI: 10.1109/ICITSI.2016.7858240
Gusti Arif Hanifah Pawitan, K. Mutijarsa, W. Adiprawita
{"title":"Three-wheeled omnidirectional robot controller implementation","authors":"Gusti Arif Hanifah Pawitan, K. Mutijarsa, W. Adiprawita","doi":"10.1109/ICITSI.2016.7858240","DOIUrl":"https://doi.org/10.1109/ICITSI.2016.7858240","url":null,"abstract":"This paper presents a controller design and its implementation for an omnidirectional robot. Due to the holonomic nature of an omnidirectional robot, the mobile robot are able to follow any planned trajectory. The path are calculated on the world frame and then transformed using inverse kinematic to each of the mobile robot motor speed. Therefore a kinematic model for the robot are derived and a PID controller is utilized to control the speed of each actuator. MATLAB® System Identification Tools® is used to identify the transfer function of each actuator and then simulated using the MATLAB® SIMULINK® platform to design a suitable PID control.","PeriodicalId":172314,"journal":{"name":"2016 International Conference on Information Technology Systems and Innovation (ICITSI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129416966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
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