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State Estimation: Obtain Reliable Estimates of Position and Velocity
State Estimation: Obtain Reliable Estimates of Position and Velocity
State Estimation: Obtain Reliable Estimates of Position and Velocity
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Sensing
motion capture
cameras
reflective markers
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Photograph by Joe McNally
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Unreliable GPS
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Operate indoors and outdoors
No GPS
Small, maneuverable
Agile, fast
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How to navigate without GPS or
external motion capture cameras?
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1. Introduction
1.1 Operation principles 905nm
UTM-30LX/LN use laser source ( = 870nm) to scan 270 semicircular field (Figure 1). It measures
distance to objects in the range and co-ordinates of those point calculated using the step angle. Sensors
measurement data along with the angle are transmitted via communication channel. Laser safety class 1.
Hokuyo UTM-30LX
Sensor is divided into two types depending upon the type of output.
1.2 Type
1.2.1 U TM-30LX Scanning Laser
(Figure 3). Rangefinder
Synchronous output signal is available. The timing chart of this signal is shown in section 6
This synchronous signal can be obtain at each scan. These are mainly intended for
robotic applications.
1.2.2 UTM-30LN
It outputs warning signal whenever there is any object in the preset area. These are mainly
intended for area protection.
Figure 1
3. Important note
mvBlueFox USB
This sensor is not a safety device/tool
camera Kinect sensor for
This sensor is not for use in military applications
Read specifications carefully before use.
XBOX 360
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Mapping d01
d02
d03
Robot
x New robot
position
Concurrently estimate
Locations of pillars (6)
Displacement of the robot (2)
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1750 g (laser, 3 cameras, GPS, IMU) 650 g (camera, IMU)
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Experimental Platform
GPS
carbon fiber
motor control frame
board
ARM Cortex
A-8 processor
accelerometers, camera
magnetometers,
gyros
KMel Robotics
www.kmelrobotics.com 43
Beacons that are easy to recognize
http://april.eecs.umich.edu/wiki/images/9/94/Tagsampler.png
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