Abstract
A method to improve navigational precision of an autonomous mobile robot is presented. With the use of a world model and ultrasonic sensors, the robot operates in a static environment consisting of orthogonal polyhedra. The whole experiment is divided into two parts: the method of how to recognize the robot’s position and orientation using the sensors and world model, and the method of how to correct its position and orientation without interrupting the smooth motion. A new technique of taking ultrasonic data combined with linear motion is used in this research. By doing this, abstract features of the local environment can be described using a least squares fit and heuristic methods. These abstract features are then matched to a model of the environment and the location and orientation of the robot are determined. Multiple obstacles are watched by separate sensors asynchronously. A matcher for each sensor independently determines positional and orientational information. Dynamic positional error correction is easily done by using a set_posture function from the library of the MML language. Experimental results show the successful execution of model and sensor based navigation by the autonomous mobile robot Yamabico-11.
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© 1989 Springer-Verlag Berlin Heidelberg
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Hartman, B.I., Kanayama, Y., Smith, T. (1989). Model and Sensor Based Precise Navigation by an Autonomous Mobile Robot. In: Waldron, K.J. (eds) Advanced Robotics: 1989. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83957-3_7
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DOI: https://doi.org/10.1007/978-3-642-83957-3_7
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