自主机器人导航的墙跟随

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI:10.1109/CARPI.2012.6473370

A. Imhof, M. Oetiker, B. Jensen

{"title":"自主机器人导航的墙跟随","authors":"A. Imhof, M. Oetiker, B. Jensen","doi":"10.1109/CARPI.2012.6473370","DOIUrl":null,"url":null,"abstract":"This paper presents the design of a novel approach to Wall-Following using a single distance sensor. Our concept takes into account distance measurements and odometry information from the robot. This information is combined using a Kalman filter, to estimate the relative position of the robot to the wall. A tracking controller is used to steer the robot with constant forward velocity along the wall while correcting distance errors. Simulations and tests with a real track drive robot are used to validate the approach. The comparison to a conventional two-sensor setup shows comparable precision.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Wall following for autonomous robot navigation\",\"authors\":\"A. Imhof, M. Oetiker, B. Jensen\",\"doi\":\"10.1109/CARPI.2012.6473370\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the design of a novel approach to Wall-Following using a single distance sensor. Our concept takes into account distance measurements and odometry information from the robot. This information is combined using a Kalman filter, to estimate the relative position of the robot to the wall. A tracking controller is used to steer the robot with constant forward velocity along the wall while correcting distance errors. Simulations and tests with a real track drive robot are used to validate the approach. The comparison to a conventional two-sensor setup shows comparable precision.\",\"PeriodicalId\":393732,\"journal\":{\"name\":\"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CARPI.2012.6473370\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CARPI.2012.6473370","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 4

摘要

本文提出了一种利用单个距离传感器实现墙体跟踪的新方法。我们的概念考虑了来自机器人的距离测量和里程计信息。这些信息结合使用卡尔曼滤波，以估计机器人相对于墙壁的位置。采用跟踪控制器控制机器人沿壁面匀速前进，同时修正距离误差。仿真和实际履带驱动机器人试验验证了该方法的有效性。与传统的双传感器设置的比较显示出相当的精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Wall following for autonomous robot navigation

This paper presents the design of a novel approach to Wall-Following using a single distance sensor. Our concept takes into account distance measurements and odometry information from the robot. This information is combined using a Kalman filter, to estimate the relative position of the robot to the wall. A tracking controller is used to steer the robot with constant forward velocity along the wall while correcting distance errors. Simulations and tests with a real track drive robot are used to validate the approach. The comparison to a conventional two-sensor setup shows comparable precision.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)

自引率

0.00%

发文量