Accurate localization of mobile robot under the weakly callibrated motion model

2012 ◽  
Author(s):  
Pangyu Jeong ◽  
Dan Pojar ◽  
Sergiu Nedevschi
Keyword(s):  
Mobile Robot ◽  
Motion Model ◽  
Accurate Localization

Motion Model of Two-Wheel Differential Drive Mobile Robot under Variable Load

2014 ◽  
Vol 668-669 ◽  
pp. 352-356 ◽  
Author(s):  
Zhi Hu Ruan ◽  
Niu Wang ◽  
Bing Xin Ran
Keyword(s):  
Mobile Robot ◽  
State Space Model ◽  
Response Characteristic ◽  
Model Parameters ◽  
Variable Load ◽  
Motion Model ◽  
Actual System ◽  
Wheel Load ◽  
Differential Drive ◽  
Entire Vehicle

Based on kinematics characteristic of two-wheeled differential drive mobile robot (WMR) and response characteristic of fact motor drive system, this paper presents the analysis method of the equivalent rotation inertia, and the entire vehicle load is assigned to each wheel, and then the wheel load is converted into the corresponding equivalent rotation inertia of the motor shaft of each wheel, and motion model of WMR are obtained for combining with quasi-equivalent (QE) state space model of double-loop direct current motor systems under variable load and kinematics model of WMR under the load changes. By using speed response data of the actual system and combining with genetic algorithm to accurately identify the model parameters. Finally, through experiments results of the WMR motion model and the second order model respectively comparing with the actual system which demonstrates the effectiveness of the proposing method and model.

Auto-localization system for indoor mobile robot using RFID fusion

Robotica ◽  
2014 ◽  
Vol 33 (9) ◽  
pp. 1899-1908 ◽  
Author(s):  
A. Abdelgawad
Keyword(s):  
Mobile Robot ◽  
Radio Frequency Identification ◽  
Accurate Estimation ◽  
Localization System ◽  
Accurate Localization ◽  
Indoor Mobile Robot ◽  
Current Location ◽  
Frequency Identification ◽  
Passive Rfid ◽  
Estimated Error

SUMMARYAutonomous mobile robots need accurate localization techniques to perform assigned task. Radio Frequency Identification Technology (RFID) has become one of the main means to construct a real-time localization system. Localization techniques in RFID rely on accurate estimation of the read range between the reader and the tags. This paper proposes an auto-localization system for indoor mobile robot using passive RFID. The proposed system reads any three different RFID tags which have a known location. The current location can be estimated using the Time Difference of Arrival (TDOA) scheme. In order to improve the system accuracy, the proposed system fuses the TDOA scheme for the three tags. A Kalman filter is used to minimize the estimated error and predict the next location. The simulation results validate the proposed framework.

Prototyping of Kinematics Simulator for Supporting Autonomous Mobile Robot Development

2016 ◽  
Vol 28 (4) ◽  
pp. 470-478 ◽  
Author(s):  
Kitaro Shimane ◽  
◽  
Ryo Ueda ◽  
Susumu Tarao
Keyword(s):  
Mobile Robot ◽  
Robot Control ◽  
Autonomous Mobile Robot ◽  
Motion Model ◽  
Simulation Experiments ◽  
Occupancy Grid ◽  
Sensor Model ◽  
Environment Model ◽  
Geometric Relationship ◽  
Basic Configuration

[abstFig src='/00280004/05.jpg' width='300' text='Appearance of the kinematics simulator' ] A kinematics simulator for an autonomous mobile robot has been proposed to simulate complicated motions such as those caused by the interaction between a robot and its environment in terms of geometric relationship. The simulator is expected to assist in the development of a robot control system for autonomous running in the real world. This paper presents the simulator concept, its basic configuration, and the results of preliminary simulation experiments, which have been performed to evaluate a simple motion model, and an environment model based on occupancy grid maps and a laser range finder pseudo sensor model consisting of a typical probabilistic density. The results of the simulation experiments using the aforementioned multiple models are also presented to demonstrate that the simulator can perform in various numerical environments.

617 Body-Promotion Mobile Robot for Snow and Ice Environment : evaluation of 3D motion model

2009 ◽  
Vol 2009.48 (0) ◽  
pp. 207-208
Author(s):  
Daichi ISHIGURO ◽  
Hiroyuki HARADA ◽  
Itsurou KAJIWARA
Keyword(s):  
Mobile Robot ◽  
Motion Model ◽  
3D Motion ◽  
Snow And Ice

Immunocytochemical detection of hepatic carbohydrate metabolic enzymes: Improved resolution with polyethylene glycol embedding and visio-bond semithin sections

1992 ◽  
Vol 50 (1) ◽  
pp. 792-793
Author(s):  
Kuixiong Gao ◽  
Randal E. Morris ◽  
Bruce F. Giffin ◽  
Robert R. Cardell
Keyword(s):  
Polyethylene Glycol ◽  
Glycogen Phosphorylase ◽  
Phosphoenolpyruvate Carboxykinase ◽  
Glycogen Synthase ◽  
Metabolic Enzymes ◽  
Silver Stain ◽  
Accurate Localization ◽  
Immunocytochemical Detection ◽  
Semithin Sections ◽  
Parenchymal Cells

Several enzymes are involved in the regulation of anabolic and catabolic pathways of carbohydrate metabolism in liver parenchymal cells. The lobular distribution of glycogen synthase (GS), phosphoenolpyruvate carboxykinase (PEPCK) and glycogen phosphorylase (GP) was studied by immunocytochemistry using cryosections of normal fed and fasted rat liver. Since sections of tissue embedded in polyethylene glycol (PEG) show good morphological preservation and increased detectability for immunocytochemical localization of antigenic sites, and semithin sections of Visio-Bond (VB) embedded tissue provide higher resolution of cellular structure, we applied these techniques and immunogold-silver stain (IGSS) for a more accurate localization of hepatic carbohydrate metabolic enzymes.

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