Model of Unmanned Ground Vehicle

• Autorzy: Králík V. , Kuffová M. , Janura P.
• Języki publikacji: EN

Abstrakty

EN

The paper deals with utilization of the laser rangefinder for navigation and mapping of unknown indoor environment. The navigation algorithm is based on comparison of two pictures of the unknown space and gain of the correlation function maximum. The 2D position change of the rangefinder is calculated as a maximum of the correlation function. The goal is to improve the accuracy of odometric and inertial methods for localization and navigation of a robot system in an indoor environment.

Słowa kluczowe

EN

automatics; localization; mapping; SLAM; UGV model

• Wydawca: Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
• Czasopismo: Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa
• Rocznik: 2010
• Tom: Vol. 1, Nr 1 (1)
• Strony: 11--20
• Opis fizyczny: Bibliogr. 8 poz., il., wykr.

Twórcy

autor

Králík V.

autor

Kuffová M.

autor

Janura P.

• Academy of Armed Forces of gen. M.R. Štefánik, Electronics Department, Demanová 393, 031 01 Liptovský Mikulás, Slovakia

Bibliografia

• [1] Breda R., Sotak M., Detection of hidden objects by infrared systems. Acta Avionica, vol. IX, no. 14, (2007), pp. 22-26, 2007.
• [2] Kelly A., Introduction to mobile robots: mathematics, models. Available at https://www.andrew.cmu.edu/course/16761/Documentation/.
• [3] Kelly A., Stentz A., Rough terrain autonomous mobility - Part 2: An active vision, Predictive Control Approach, Autonomous Robots, 5, (1998), pp. 163-198, 1998.
• [4] Sopata M., Sotak M., Breda R., Modelling, simulation, verification and validation, Proceedings of 6th International Conference New Trends in Aerospace, Kosice: Faculty of Aeronautics of Technical University, 2004.
• [5] Sotak M., Navigation sensors in simulation environment, Proceedings of 31st Internationally Attended Scientific Conference on Modern Technologies in the XXI Century, Military Technical Academy, Bucharest, Romania, 2005, pp. 3.185-3.190, 2005.
• [6] Manuals for LMS 200 Laser Measurement Systems, SICK sensor intelligence.
• [7] Kottfer D., Olejník F., Pešek L., Mrva P., Optimization of thin films deposition process, Acta Metallurgica Slovaca, vol. 10, no. 1 (2004), pp. 625-629, 2004.
• [8] Kottfer D., Mrva P., Mechanical pretreatment of surface of aluminium alloy D16-T by shot peening, Acta Polytechnica Hungarica, vol. 6, no. 4 (2009), pp. 75-82, 2009.