OMNI-WHEEL ROBOT NAVIGATION, LOCATION, PATH PLANNING AND OBSTACLE AVOIDANCE WITH ULTRASONIC SENSOR AND OMNI-DIRECTION VISION SYSTEM
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F63468352%3A_____%2F11%3A%230000135" target="_blank" >RIV/63468352:_____/11:#0000135 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
OMNI-WHEEL ROBOT NAVIGATION, LOCATION, PATH PLANNING AND OBSTACLE AVOIDANCE WITH ULTRASONIC SENSOR AND OMNI-DIRECTION VISION SYSTEM
Original language 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 mobilerobot 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.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
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Continuities
N - Vyzkumna aktivita podporovana z neverejnych zdroju
Others
Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů