About: OMNI-WHEEL ROBOT NAVIGATION, LOCATION, PATH PLANNING AND OBSTACLE AVOIDANCE WITH ULTRASONIC SENSOR AND OMNI-DIRECTION VISION SYSTEM

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About: OMNI-WHEEL ROBOT NAVIGATION, LOCATION, PATH PLANNING AND OBSTACLE AVOIDANCE WITH ULTRASONIC SENSOR AND OMNI-DIRECTION VISION SYSTEM Goto Sponge NotDistinct Permalink

An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	In this paper, we present a multi-sensor cooperation paradigm between an Omni-directional vision system and a panoramic range finder system. And Obstacle avoidance based on ultrasonic sensors. A nonlinear controller design for an Omni-directional mobile robot is presented. The robot controller consists of an outer-loop (kinematics) controller and an inner-loop (dynamics) controller, which are both designed using the Trajectory Linearization Control method based on a nonlinear robot dynamic model. The Trajectory Linearization controller design combines a nonlinear dynamic inversion and a linear time-varying regulator in a novel way, thereby achieving robust stability and performance along the trajectory without interpolating controller gains. A sensor fusion method, Obstacle avoidance methods based on ultrasonic sensors must account for the sensors' shortcomings, such as inaccuracies, crosstalk, and spurious readings. In this paper, we present a multi-sensor cooperation paradigm between an Omni-directional vision system and a panoramic range finder system. And Obstacle avoidance based on ultrasonic sensors. A nonlinear controller design for an Omni-directional mobile robot is presented. The robot controller consists of an outer-loop (kinematics) controller and an inner-loop (dynamics) controller, which are both designed using the Trajectory Linearization Control method based on a nonlinear robot dynamic model. The Trajectory Linearization controller design combines a nonlinear dynamic inversion and a linear time-varying regulator in a novel way, thereby achieving robust stability and performance along the trajectory without interpolating controller gains. A sensor fusion method, Obstacle avoidance methods based on ultrasonic sensors must account for the sensors' shortcomings, such as inaccuracies, crosstalk, and spurious readings. (en)
Title	OMNI-WHEEL ROBOT NAVIGATION, LOCATION, PATH PLANNING AND OBSTACLE AVOIDANCE WITH ULTRASONIC SENSOR AND OMNI-DIRECTION VISION SYSTEM OMNI-WHEEL ROBOT NAVIGATION, LOCATION, PATH PLANNING AND OBSTACLE AVOIDANCE WITH ULTRASONIC SENSOR AND OMNI-DIRECTION VISION SYSTEM (en)
skos:prefLabel	OMNI-WHEEL ROBOT NAVIGATION, LOCATION, PATH PLANNING AND OBSTACLE AVOIDANCE WITH ULTRASONIC SENSOR AND OMNI-DIRECTION VISION SYSTEM OMNI-WHEEL ROBOT NAVIGATION, LOCATION, PATH PLANNING AND OBSTACLE AVOIDANCE WITH ULTRASONIC SENSOR AND OMNI-DIRECTION VISION SYSTEM (en)
skos:notation	RIV/63468352:_____/11:#0000135!RIV11-MSM-63468352
http://linked.open...avai/predkladatel	Evropský polytechnický institut, s.r.o.
http://linked.open...avai/riv/aktivita	N
http://linked.open...avai/riv/aktivity	N
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Rukovanský, Imrich
http://linked.open.../riv/druhVysledku	O - Ostatní výsledky nezařaditelné do žádného z výše uvedených druhů výsledku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Evropský polytechnický institut, s.r.o. / (nerozlišená součást)
http://linked.open...dnocenehoVysledku	217937
http://linked.open...ai/riv/idVysledku	RIV/63468352:_____/11:#0000135
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Omni-directional vision system, Obstacle avoidance, ultrasonic sensor, Omni-directional mobile robot (en)
http://linked.open.../riv/klicoveSlovo	Obstacle avoidance Omni-directional mobile robot Omni-directional vision system ultrasonic sensor
http://linked.open...ontrolniKodProRIV	[A1428DE4F1A7]
http://linked.open...in/vavai/riv/obor	IN
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...UplatneniVysledku	2011
http://linked.open...iv/tvurceVysledku	Rukovanský, Imrich

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