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Titolo:
Design of an absolute location and position measuring system for a mobile robot
Autore:
Kim, DH; Park, YC; Chung, K;
Indirizzi:
Seoul Natl Univ Technol, Dept Mech Design, Seoul 139743, South Korea SeoulNatl Univ Technol Seoul South Korea 139743 oul 139743, South Korea Seoul Natl Univ Technol, Dept Control & Instrumentat, Seoul 139743, South Korea Seoul Natl Univ Technol Seoul South Korea 139743 oul 139743, South Korea
Titolo Testata:
KSME INTERNATIONAL JOURNAL
fascicolo: 10, volume: 15, anno: 2001,
pagine: 1369 - 1379
SICI:
1226-4865(200110)15:10<1369:DOAALA>2.0.ZU;2-S
Fonte:
ISI
Lingua:
ENG
Soggetto:
DEAD-RECKONING ERRORS; INTERNAL CORRECTION;
Keywords:
location sensor; mobile robot; magnetic sensor; guiding-counting sensor; PSD sensor; low cost position sensor;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
13
Recensione:
Indirizzi per estratti:
Indirizzo: Kim, DH Seoul Natl Univ Technol, Dept Mech Design, Seoul 139743, South Korea Seoul Natl Univ Technol Seoul South Korea 139743 43, South Korea
Citazione:
D.H. Kim et al., "Design of an absolute location and position measuring system for a mobile robot", KSME INT J, 15(10), 2001, pp. 1369-1379

Abstract

This paper focuses on a development of a sensor system measuring locationsof a vehicle to localize a mobile robot while it tracks on the track (location sensor). Also it focuses on a system configuration identifying the vehicle's orientation and distance from the object while it is stationary at certain station (position sensor). As for the location sensor, it consists of a set of sensors with a combined guiding and counting sensor, and an address-coded sensor to localize the vehicle while moving on the rail. For the position sensor a PSD (Position Sensitive Device) sensor with photo-switches sensor to measure the offset and orientation of the vehicle at each station is introduced. Both sensor systems are integrated with a microprocessor as a data relay to the main computer controlling the vehicle. The location sensor system is developed and its performance for a mobile robot is verified by experiments. The position measuring system is proposed and is robust to the environmental variation. Moreover, the two kinds of sensor systems guarantee a low cost application and high reliability.

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Documento generato il 30/05/20 alle ore 18:17:58