Sensor roll angle error for a mobile robot using a navigation line

An investigation of the effects of various error components in a mobile robot system, which uses a navigation line, was previously reported by the author in 1985. An analysis of the effects of these error components on the navigation line-width determination and obstacle-range determination is prese...

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Veröffentlicht in:	IEEE transactions on pattern analysis and machine intelligence 1988-09, Vol.10 (5), p.727-731
Hauptverfasser:	Drake, K.C., McVey, E.S., Inigo, R.M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Computer science control theory systems Control theory. Systems Equations Error analysis Exact sciences and technology Mobile robots Navigation Optical devices Optical sensors Robot kinematics Robot sensing systems Robotics Sensor phenomena and characterization Sensor systems
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Zusammenfassung:	An investigation of the effects of various error components in a mobile robot system, which uses a navigation line, was previously reported by the author in 1985. An analysis of the effects of these error components on the navigation line-width determination and obstacle-range determination is presented that provided equations that are used to predict the error resulting from changes in various system parameters. In particular, the change in the rotation angle of the robot sensor about its optical axis, called the roll angle, is examined. Numerical examples showing the characteristics of the derived error equations are also given.< >
ISSN:	0162-8828 1939-3539 2160-9292
DOI:	10.1109/34.6783