| 1. |
- Baerveldt, Albert-Jan, et al.
(författare)
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A low-cost and low-weight attitude estimation system for an autonomous helicopter
- 1997
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Ingår i: IEEE International Conference on Intelligent Engineering Systems, Proceedings, INES. - Piscataway, N.J. : IEEE Press. - 0780336275 ; , s. 391-395
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- In this paper a low-cost and low-weight attitude estimation system for an autonomous helicopter is presented. The system is based on an inclinometer and a rate gyro. The data coming from the sensors is fused through a complementary filter. In this way the slow dynamics of the inclinometer can be effectively compensated. Tests have shown that we obtained a very effective attitude estimation system.
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| 2. |
- Baerveldt, Albert-Jan, et al.
(författare)
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A low-cost colour vision-system for robot design competitions
- 1998
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Ingår i: Mechatronics '98. - Oxford : Pergamon Press. - 0080433391 ; , s. 595-600
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a low-cost colour vision system mainly intended for robot design competitions, which nowadays is a popular, project-oriented, way of teaching mechatronics in engineering curriculums. The estimated cost is about 450 dollar inclusive colour camera and the system is small enough to be carried on-board relative small mobile robots. The system is build around a signal processor TMS C31. We also present and discuss the experiences made with the system in our robot design competition.
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| 3. |
- Baerveldt, Albert-Jan, et al.
(författare)
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Visual guidance of mobile robots using a neural network
- 1998
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Ingår i: Mechatronics '98. - Oxford : Pergamon Press. - 0080433391 ; , s. 427-431
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a self-learning method for low-level navigation for autonomous mobile robots, based on a neural network. Both corridor following and obstacle avoidance in indoor environments are successfully managed by the same network. Raw gray scale images of size 32 by 23 pixels are processed one by one by a feed forward neural network. The output signals of the network represent the appropriate steering actions of the robot.
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| 4. |
- Bengtsson, Ola, et al.
(författare)
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Localization in changing environments by matching laser range scans
- 1999
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Ingår i: 1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99).. - : Institute of Electrical and Electronics Engineers (IEEE). - 0780356721 ; , s. 169-176
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Konferensbidrag (refereegranskat)abstract
- We present a novel scan matching algorithm, IDC-S, Iterative Dual Correspondence-Sector, that matches range scans. The algorithm is based on the known Iterative Dual Correspondence, IDC, algorithm which has shown good performance in real environments. The improvement is that IDC-S is able to deal with relatively large changes in the environment. It divides the scan in several sectors, detects and removes those sectors that are changed and matches the scans only using unchanged sectors. IDC-S and other variants of IDC are extensively simulated and evaluated. The simulations show that IDC-S is very robust and can locate in many different kind of environments. We also show that it is possible to effectively combine the existing IDC algorithms with IDC-S, thus obtaining an algorithm that performs very well both in rectilinear as well as nonrectilinear environments, even when changed as much as 65%. © 1999 IEEE.
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