Robust DOA estimation and target docking for mobile robots
スポンサーリンク
概要
- 論文の詳細を見る
Direction of arrival (DOA) guided automated target acquisition and docking system is proposed for mobile robots employing the dual-directional antenna system. The dual-directional antenna estimates the DOA of the signal of interest using the ratio of the signal strengths between two adjacent antennas. In practice, DOA estimation poses a significant technical challenge, since the RF signal is easily distorted by the environmental conditions. Therefore, the robot often loses its way in an electromagnetically disturbed environment. To cope with this problem, a robust DOA estimation algorithm is developed based on Kalman filtering. This algorithm allows the robot to reduce the potential error in the estimated DOA, and adjust the robot’s heading to the target transponder without needing to know the positions of current and previous measurements in a global coordinate system. The simulation and experiment results clearly demonstrate that the mobile robot equipped with the developed system is able to dock to a target transponder in an indoor environment partially occupied by obstacles.
論文 | ランダム
- 薬用ハーブの機能性とその利用について-2-エキナセアプルプレア(Echinacea purpurea)
- 水田酪農における子牛育成法の改善-2-粗飼料と濃厚飼料の給与比率別飼養
- 分泌型シグナル分子による背腹軸形成機構 (特集 細胞外環境による形態形成の制御--新しい生物学の胎動)
- 前脳形成における転写抑制因子Fez,Fez-likeの役割 (特集 脳の遺伝子--どこでどのように働いているのか)
- 伸張性収縮運動後に起こる筋肉痛に対する鍼刺激の影響(第2報) (第25回(社)東洋療法学校協会学術大会 テーマ「東洋医学--未来へのターニングポイント」)