Perceptive Robot Moving in 3D World
نویسندگان
چکیده
This paper reflects the state of development of multilevel control algorithms for a six-legged mobile robot. The robot has a perceptive ability and can measure distances up to points in the terrain relief to be overcome. The measurement process is coordinated with the robot's motion. DC simulation results and the analysis of the robot's moving image on the display screen make i t possible to check the algorithms and to search ways for their improvement.
منابع مشابه
A Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres
This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...
متن کاملDesign of the 3D perceptive system based on laser scanner for a mobile robot
It is necessary for autonomous navigation of mobile robot to have the ability of terrain mapping and analysis for 3D environment. This paper designs a 3D perceptive system for a mobile robot based on a 2D laser scanner LMS291 mounting on a high precision rotating table with horizontal and pitch rotation. Based on the measurement principle of LMS291, its ranging accuracy in different condition i...
متن کاملOrbiting a Moving Target with Multi-Robot Collaborative Visual SLAM
Towards autonomous 3D modelling of moving targets, we present a system where multiple ground-based robots cooperate to localize, follow and scan from all sides a moving target. Each robot has a single camera as its only sensor, and they perform collaborative visual SLAM (CoSLAM). We present a simple robot controller that maintains the visual constraints of CoSLAM while orbiting a moving target ...
متن کاملEffects of Moving Landmark’s Speed on Multi-Robot Simultaneous Localization and Mapping in Dynamic Environments
Even when simultaneous localization and mapping (SLAM) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. Researches show that the performance of SLAM algorithms deteriorates under dynamic environments. In this paper, a multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a...
متن کاملMotion detection by a moving observer using Kalman filter and neural network in soccer robot
In many autonomous mobile applications, robots must be capable of analyzing motion of moving objects in their environment. Duringmovement of robot the quality of images is affected by quakes of camera which cause high errors in image processing outputs. In thispaper, we propose a novel method to effectively overcome this problem using Neural Networks and Kalman Filtering theory. Thistechnique u...
متن کامل