Mobile Robot Notes Final Project - SYS635 Adaptive Control...

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SYS635 Adaptive Control Ka C Cheok 1 of 14 Guidance of a Preceder-Following Mobile Robot
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SYS635 Adaptive Control Ka C Cheok 2 of 14 Guidance Sensors 2D Laser Radar (Ladar or Lidar) is a laser illumination and ranging technique to measure shapes in a 2- dimensional layout. SICK LM OEM is a (spinning) scanning 360 o 2D ladar that cost about $7,000. The GS200 (below) is an example of a 3D ladar. Such unit costs approx $200k as a system (software is also extremely important) Ladar is very useful in a robotic leader-following or preceder-following scheme as it provides information relating to the orientation direction and separation distance between the preceder and the follower. We will assume that ladar is available for guiding the mobile robot. Other methods for determining objects around you include: discussions. .. Sonar (as in bats and Marvel Comics’ DareDevil) Radar Camera Mechanical feeler Mobile robot steering and distance control problem
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SYS635 Adaptive Control Ka C Cheok 3 of 14 A well known paradox in the field of intelligent systems: A task that is easy to a human being can be a monumental task for a computer-based control system, and vice versa. E.g., “Follow me to this restaurant,” said a friend, and you said, “No problem.” A robot might say “Huhhh???” This is the so-called A-to-B mobility problem. It requires a good integration of Navigation sensors for waypoints, etc Proximity sensors for obstacles detections, Perception that combines navigation and proximity to produce a virtual internal map Path and motion planning Guidance control execution Mechanical mobility of the physical platform Multiply 52.3789 by 3.1416. You’d reach for a calculator. Or you’d say the answer is roughly 156. Observation/Views: Intelligent level execution – less precise, simple rules, slow sample rate Precision level execution – more precise, highly numerical, fast sample rate Dynamics of Mobile Robot Ladar U f U s X Y H X T Y T What shall the robot do to follower the target? E D E H
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SYS635 Adaptive Control Ka C Cheok 4 of 14 View the problem as simple systems View the problem as simple aiming and separation control systems 0 radian U s Steering controller (can apply control design technique here) Steering error dynamics 3 meter U f E D Distance error dynamics - - E H Distancecontroller (can apply control design technique here) E Steer E Separation R H U s H What shall we do to the heading of the robot?
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This note was uploaded on 04/17/2011 for the course SYS 635 taught by Professor Re during the Spring '11 term at Albany College of Pharmacy and Health Sciences.

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Mobile Robot Notes Final Project - SYS635 Adaptive Control...

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