Position Sensor for a Mobile Robot

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Izvoz citacije: ABNT
MAHKOVIC, Rajko .
Position Sensor for a Mobile Robot. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 53, n.5, p. 285-296, august 2017. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/position-sensor-for-a-mobile-robot/>. Date accessed: 11 nov. 2019. 
doi:http://dx.doi.org/.
Mahkovic, R.
(2007).
Position Sensor for a Mobile Robot.
Strojniški vestnik - Journal of Mechanical Engineering, 53(5), 285-296.
doi:http://dx.doi.org/
@article{.,
	author = {Rajko  Mahkovic},
	title = {Position Sensor for a Mobile Robot},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {53},
	number = {5},
	year = {2007},
	keywords = {mobile robots; position sensors; odometry; measurement systems; },
	abstract = {A new position sensor is presented, designed for accurate measurements of the relative position of a mobile robot. It consists of a measurement wheel, an absolute optical encoder for measurements of the robot's orientation and a relative encoder for measurements of the distance covered by the robot. A mathematical description of the relation between the measurement wheel's orientation alteration, the distance that has been covered and the change of the robots' position in the Cartesian coordinate system is given. The discussion is divided into two situations: the first, in which the measurement wheel is aligned with the current robot's path, and the second, in which it is not. In the experiments the robot was sent to drive along a figure-of-eight-shaped path and along a long and narrow corridor. The results prove that the proposed sensor is as accurate as the classical solution of two additional measurement wheels, mounted on each side of the driving wheels. The error in the position remains below 0.4% of the travelled path for both types of paths. The position sensor needs to be calibrated with the values of four parameters: the circumference of the measurement wheel, the initial offset (the angle of the absolute encoder corresponding to the zero orientation of the robot), the eccentricity of the measurement wheel, and the distance between the sensor and the reference point of the robot.},
	issn = {0039-2480},	pages = {285-296},	doi = {},
	url = {https://www.sv-jme.eu/sl/article/position-sensor-for-a-mobile-robot/}
}
Mahkovic, R.
2007 August 53. Position Sensor for a Mobile Robot. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 53:5
%A Mahkovic, Rajko 
%D 2007
%T Position Sensor for a Mobile Robot
%B 2007
%9 mobile robots; position sensors; odometry; measurement systems; 
%! Position Sensor for a Mobile Robot
%K mobile robots; position sensors; odometry; measurement systems; 
%X A new position sensor is presented, designed for accurate measurements of the relative position of a mobile robot. It consists of a measurement wheel, an absolute optical encoder for measurements of the robot's orientation and a relative encoder for measurements of the distance covered by the robot. A mathematical description of the relation between the measurement wheel's orientation alteration, the distance that has been covered and the change of the robots' position in the Cartesian coordinate system is given. The discussion is divided into two situations: the first, in which the measurement wheel is aligned with the current robot's path, and the second, in which it is not. In the experiments the robot was sent to drive along a figure-of-eight-shaped path and along a long and narrow corridor. The results prove that the proposed sensor is as accurate as the classical solution of two additional measurement wheels, mounted on each side of the driving wheels. The error in the position remains below 0.4% of the travelled path for both types of paths. The position sensor needs to be calibrated with the values of four parameters: the circumference of the measurement wheel, the initial offset (the angle of the absolute encoder corresponding to the zero orientation of the robot), the eccentricity of the measurement wheel, and the distance between the sensor and the reference point of the robot.
%U https://www.sv-jme.eu/sl/article/position-sensor-for-a-mobile-robot/
%0 Journal Article
%R 
%& 285
%P 12
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 53
%N 5
%@ 0039-2480
%8 2017-08-18
%7 2017-08-18
Mahkovic, Rajko.
"Position Sensor for a Mobile Robot." Strojniški vestnik - Journal of Mechanical Engineering [Online], 53.5 (2007): 285-296. Web.  11 Nov. 2019
TY  - JOUR
AU  - Mahkovic, Rajko 
PY  - 2007
TI  - Position Sensor for a Mobile Robot
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - mobile robots; position sensors; odometry; measurement systems; 
N2  - A new position sensor is presented, designed for accurate measurements of the relative position of a mobile robot. It consists of a measurement wheel, an absolute optical encoder for measurements of the robot's orientation and a relative encoder for measurements of the distance covered by the robot. A mathematical description of the relation between the measurement wheel's orientation alteration, the distance that has been covered and the change of the robots' position in the Cartesian coordinate system is given. The discussion is divided into two situations: the first, in which the measurement wheel is aligned with the current robot's path, and the second, in which it is not. In the experiments the robot was sent to drive along a figure-of-eight-shaped path and along a long and narrow corridor. The results prove that the proposed sensor is as accurate as the classical solution of two additional measurement wheels, mounted on each side of the driving wheels. The error in the position remains below 0.4% of the travelled path for both types of paths. The position sensor needs to be calibrated with the values of four parameters: the circumference of the measurement wheel, the initial offset (the angle of the absolute encoder corresponding to the zero orientation of the robot), the eccentricity of the measurement wheel, and the distance between the sensor and the reference point of the robot.
UR  - https://www.sv-jme.eu/sl/article/position-sensor-for-a-mobile-robot/
@article{{}{.},
	author = {Mahkovic, R.},
	title = {Position Sensor for a Mobile Robot},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {53},
	number = {5},
	year = {2007},
	doi = {},
	url = {https://www.sv-jme.eu/sl/article/position-sensor-for-a-mobile-robot/}
}
TY  - JOUR
AU  - Mahkovic, Rajko 
PY  - 2017/08/18
TI  - Position Sensor for a Mobile Robot
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 53, No 5 (2007): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - mobile robots, position sensors, odometry, measurement systems, 
N2  - A new position sensor is presented, designed for accurate measurements of the relative position of a mobile robot. It consists of a measurement wheel, an absolute optical encoder for measurements of the robot's orientation and a relative encoder for measurements of the distance covered by the robot. A mathematical description of the relation between the measurement wheel's orientation alteration, the distance that has been covered and the change of the robots' position in the Cartesian coordinate system is given. The discussion is divided into two situations: the first, in which the measurement wheel is aligned with the current robot's path, and the second, in which it is not. In the experiments the robot was sent to drive along a figure-of-eight-shaped path and along a long and narrow corridor. The results prove that the proposed sensor is as accurate as the classical solution of two additional measurement wheels, mounted on each side of the driving wheels. The error in the position remains below 0.4% of the travelled path for both types of paths. The position sensor needs to be calibrated with the values of four parameters: the circumference of the measurement wheel, the initial offset (the angle of the absolute encoder corresponding to the zero orientation of the robot), the eccentricity of the measurement wheel, and the distance between the sensor and the reference point of the robot.
UR  - https://www.sv-jme.eu/sl/article/position-sensor-for-a-mobile-robot/
Mahkovic, Rajko"Position Sensor for a Mobile Robot" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 53 Number 5 (18 August 2017)

Avtorji

Inštitucije

  • University of Ljubljana, Faculty of Computer and Information Science, Slovenia

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 53(2007)5, 285-296

A new position sensor is presented, designed for accurate measurements of the relative position of a mobile robot. It consists of a measurement wheel, an absolute optical encoder for measurements of the robot's orientation and a relative encoder for measurements of the distance covered by the robot. A mathematical description of the relation between the measurement wheel's orientation alteration, the distance that has been covered and the change of the robots' position in the Cartesian coordinate system is given. The discussion is divided into two situations: the first, in which the measurement wheel is aligned with the current robot's path, and the second, in which it is not. In the experiments the robot was sent to drive along a figure-of-eight-shaped path and along a long and narrow corridor. The results prove that the proposed sensor is as accurate as the classical solution of two additional measurement wheels, mounted on each side of the driving wheels. The error in the position remains below 0.4% of the travelled path for both types of paths. The position sensor needs to be calibrated with the values of four parameters: the circumference of the measurement wheel, the initial offset (the angle of the absolute encoder corresponding to the zero orientation of the robot), the eccentricity of the measurement wheel, and the distance between the sensor and the reference point of the robot.

mobile robots; position sensors; odometry; measurement systems;