Download PDF by Alejandra Barrera: Mobile Robots Navigation

By Alejandra Barrera

ISBN-10: 9533070765

ISBN-13: 9789533070766

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An X-axis positive direction is defined as 0 (deg), Y-axis positive direction is 90 (deg) and Zaxis is perpendicular to the X-Y plane. That is used as rotation axis in this experiment. Next, we adjust offset and gain of an accelerometer that X-axis output voltage Vout x to 0(V) when the X0 axis is 0(deg), Y-axis output voltage Vout y to 0(V) when the X-axis is 90(deg). We regard the angle set by the angle-setup apparatus as the true value in X-axis direction. Then we adjust each 5(deg) in the range of 0 ~ 355(deg) and we compare the error between the angle calculated from accelerometer output (angle measurement) and that of the evaluated value.

1 Extension of Measurable Angle Range A certain kind of insect can return to a nest by assisting polarization in the sky. It is familiar that outdoors, weak polarization occurs in the sky by air correlate with sunrays. , 1997). At first, we have to understand the basic property of linear polarizing light. While the polarizer rotates one turn, same polarizing states appear twice. The range of an azimuth angle is 360(deg). On the contrary, the range of polarizing angle is 180(deg). This means that azimuth of 0(deg) and that of 180(deg) are undistinguished.

2005). Automatic Structure and Motion using a Catadioptric Camera, Proceedings of the 6th Workshop on Omnidirectional Vision, Camera Networks and Nonclassical Cameras, pp. C. (1981). A computer algorithm for reconstructing a scene from two projections. Nature, Vol. G. (2004). A Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision (IJCV), Vol. 60, No. L. & Prattichizzo, D. (2005). The Epipolar Geometry Toolbox : multiple view geometry and visual servoing for MATLAB.

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Mobile Robots Navigation by Alejandra Barrera

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