File:Automated cartography by an autonomous mobile robot using ultrasonic range finders (IA automatedcartogr1094539971).pdf
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Summary[edit]
Automated cartography by an autonomous mobile robot using ultrasonic range finders ( ) | |
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Author |
MacPherson, David Leonard, Jr. |
Title |
Automated cartography by an autonomous mobile robot using ultrasonic range finders |
Publisher |
Monterey, California. Naval Postgraduate School |
Description |
The problem solved was for an autonomous mobile robot to generate a precise map of its orthogonal, indoor environment. The maps generated by the robot's sensors must be perfect so they can be used in subsequent navigation tasks using the same sensors. Our approach performed map-making incrementally with a partial world data structure describing incomplete polygons. A striking feature of the partial world data structure was they consist of 'real' and 'inferred' edges. Basically, in each learning step, the robot's sensors scan an unexplored region to obtain new 'real' and 'inferred' edges by eliminating at least one 'inferred' edge. The process continues until no 'inferred' edges remain in the partial world. In order to make this algorithm possible, linear fitting of sensor input, smooth vehicle motion control, dead reckoning error correction, and a mapping algorithm were developed. This algorithm was implemented on the autonomous mobile robot Yamabico-11. The results of this experiment using Yamabico-11 were threefold. (1) A smooth path tracking algorithm resulted in motion error of less than 2% in all experiments. (2) Dead reckoning error correction experiments revealed small, consistent vehicle odometry errors. The maximum observed error was 1.93 centimeters and 1.04 deg over a 9.14 meter course. (3) Precise mapping was demonstrated with a map accuracy in the worst case of 25 centimeters and 2 deg of hand measured maps. The ability to explore an indoor world space while correcting dead reckoning error is a significant improvement over previous work (Leonard 91) (Crowley 86) (Cox 91) Subjects: Autonomous vehicles; Autonomous mobile robots; Software architectures |
Language | English |
Publication date |
September 1993 publication_date QS:P577,+1993-09-00T00:00:00Z/10 |
Current location |
IA Collections: navalpostgraduateschoollibrary; fedlink |
Accession number |
automatedcartogr1094539971 |
Source | |
Permission (Reusing this file) |
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted. |
Licensing[edit]
Public domainPublic domainfalsefalse |
This file is a work of a sailor or employee of the U.S. Navy, taken or made as part of that person's official duties. As a work of the U.S. federal government, it is in the public domain in the United States.
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This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights. |
https://creativecommons.org/publicdomain/mark/1.0/PDMCreative Commons Public Domain Mark 1.0falsefalse
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current | 22:01, 14 July 2020 | 1,275 × 1,650, 386 pages (15.43 MB) | Fæ (talk | contribs) | FEDLINK - United States Federal Collection automatedcartogr1094539971 (User talk:Fæ/IA books#Fork8) (batch 1993-2020 #8737) |
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Short title | Automated cartography by an autonomous mobile robot using ultrasonic range finders |
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Author | MacPherson, David Leonard, Jr. |
Software used | MacPherson, David Leonard, Jr. |
Conversion program | |
Encrypted | no |
Page size |
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Version of PDF format | 1.4 |