By Thomas Bräunl
ISBN-10: 3540343180
ISBN-13: 9783540343189
The ebook is a realistic "hands-on" education consultant in embedded structures and cellular robots. All very important elements of Embedded platforms are provided within the attention-grabbing context of cellular Robots.
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Extra info for Embedded Robotics,Mobile Robot Design and Applications with Embedded Systems
Example text
6 Position Sensitive Device Sonar sensors Sensors for distance measurements are among the most important ones in robotics. For decades, mobile robots have been equipped with various sensor types for measuring distances to the nearest obstacle around the robot for navigation purposes. In the past, most robots have been equipped with sonar sensors (often Polaroid sensors). Because of the relatively narrow cone of these sensors, a typical configuration to cover the whole circumference of a round robot required 24 sensors, mapping about 15° each.
However, we will concentrate here on simpler sensors, most of them only capable of measuring a single dimension. Two or three sensors of the same model can be combined for measuring two or all three axes of orientation. 1 Accelerometer All these simple sensors have a number of drawbacks and restrictions. Most of them cannot handle jitter very well, which frequently occurs in driving or especially walking robots. As a consequence, some software means have to be taken for signal filtering. 7). A number of different accelerometer models are available from Analog Devices, measuring a single or two axes at once.
Here, it can happen that the acoustic signal from one sensor is being picked up by another sensor, resulting in incorrectly assuming a closer than actual obstacle. Coded sonar signals can be used to prevent this, for example using pseudo random codes [Jörg, Berg 1998]. Today, in many mobile robot systems, sonar sensors have been replaced by either infrared sensors or laser sensors. The current standard for mobile robots is laser sensors (for example Sick Auto Ident [Sick 2006]) that return an almost 23 2 Sensors perfect local 2D map from the viewpoint of the robot, or even a complete 3D distance map.
Embedded Robotics,Mobile Robot Design and Applications with Embedded Systems by Thomas Bräunl
by Robert
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