intro to mobile robots
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An Introduction to Mobile Robotics
Who am I.
Steve Goldberg10+ years building robots for ASA!"#$
Wor%ed on M&R' (ig)og and *rusher
& ,ert in stereo vision and autonomous navigation
*urrently head of Robotics at Adigo Mechatronics in-,,egard
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Mani,ulators and Mobile Robots
Mani,ulators
-,erate in a constrained or%s,ace ave absolute measurements of
,osition
May or may not need to ,erceive theorld around them.
Mobile Robots
*an o,erate in unconstrained environments eed e ternal sensing to determine ,osition
eed e ternal sensing to avoid obstacles
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Sensing
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Sensing
Any information a robot collects about it self or itsenvironment re/uires sensing.
Robots that ant to learn' ma, and!or navigate need tocollect information about their surroundings.
All sensors have some degree of uncertainty 3ncertainty can be reduced by multi,le measurements.
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Sensing 1
o things to sense Its o n state 4#ro,rioce,tive5
Motor s,eed' battery voltage' 6oint angles' etc he orld 4& teroce,tive5
&verything and anything about the orld around it self o ty,es of sensors
Active #ro6ect energy out to measure it7s return
#assive Sense the natural energy around it self
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Sensing 8
#assive #ro,rioce,tive hermometer #otentiometers
Accelerometer
#assive & teroce,tive *ameras *ontact sensors
*om,ass
Active #ro,rioce,tive -,tical &ncoder Gyrosco,es
Active & teroce,tive Sonar $asers G#S
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Sensing 9
Sensing erms )ynamic range
3,,er and lo er limits of a sensorsin,ut values
&rror )ifference bet een measured and true
values Accuracy
Ability to ,roduce measurements ithlittle error
#recision
Ability to re,roduce a measurementhen ,resented ith the same in,ut.
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Sensing :
y,es of &rror Systematic
&rrors introduced by ,oor modeling of the sensor Random &rror
on;deterministic behaviors Sources of &rror
&nvironment $o light' glossy surfaces
*alibration #rinci,ally noisy methodologies
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Sensing