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MANU2206 Week04 PDF
MANU2206 Week04 PDF
Dr. Tu Le
School of Engineering
RMIT University, Victoria, Australia
Email: tu.le@rmit.edu.au
Qbot: Our Robots in the Lab
• Major components:
– iRobot Create® robotic platform
– an array of infrared sensors
– an array of sonar sensors
– a Logitech Quickcam Pro 9000
USB camera
– An embedded system called
Quanser Control Module (QCM)
• QUARC: Quanser's real-time
control software.
– QCM uses the Gumstix
computer to run QUARC and
2 data acquisition card (DAC).
QBot 2: Our Robots in the Lab
• Major components:
– Mobile Platform: 2-wheeled iClebo Kobuki mobile base
from Yujin Robot
– On-board Computer: Gumstix DuoVero Zephyr with
integrated 802.11 b/g/n WiFi
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QBot 2: Our Robots in the Lab
• Sensors:
– 3 digital bump sensors
– 1 Kinect® RGBD sensor
– 2 wheel encoders
– 3 digital wheel drop sensors
– 3 cliff sensors
– 3-axis gyroscope
– 1 Z-axis angle measurement (heading)
– 2 analog motor current sensors
NOTE:
– 3 digital buttons
Only the sensors in
– 2 overcurrent sensors
green will be used in
– 1 battery voltage sensor our lab experiments.
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QBot 2: Our Robots in the Lab
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Local Coordinate System
z
7
The Kinect Sensor
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Relevant Simulink Blocks from QUARC
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Relevant Simulink Blocks from QUARC
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Relevant Simulink Blocks from QUARC
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Relevant Simulink Blocks from QUARC
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Relevant Simulink Blocks from QUARC
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Relevant Simulink Blocks from QUARC
𝑥𝑃 = 𝑧𝑃 tan 𝑎𝑃
𝑧
𝑦𝑃 = 𝑧𝑃 tan 𝑏𝑃 𝑥 𝑧𝑃 =measured range
−28.5∘ ≤ 𝑎𝑃 ≤ 28.5∘ 𝑃
𝑏𝑃
−23.5∘ ≤ 𝑏𝑃 ≤ 23.5∘ 𝑥𝑃 𝑎𝑃
𝑦
𝑂 𝑦𝑃
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Relevant Simulink Blocks from QUARC
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Touch Sensors and Switches
Switches
Normally Open (NO) or Normally Closed (NC)
Pole: the moving element
Throw: contact point
SPDT
18 NC Push Button
Touch Sensors and Switches
– SPDT
• Two states: B
A
State 1: A → B C
State 2: A → C
– DPST
• When closed: A B
A→B
D C
D→C
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Touch Sensors and Switches
A B
Right: E → B
F→C D C
F
E
Left: E→A A B
F→D
D C
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F
Connecting Touch Sensors to a Processor
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Range Sensors
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Range Sensors
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Vision Sensor
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Classification of Sensors
• WHAT:
– Proprioceptive sensors
• measure values internally to the system (robot) e.g. motor
speed, wheel load, heading of the robot, battery status
– Exteroceptive sensors
• information from the robot’s environment, e.g. distances to
objects, intensity of the ambient light, unique features.
• HOW:
– Passive sensors
• energy coming from the environment
– Active sensors
• emit their proper energy and measure the reaction
• better performance, but some influence on environment
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Classification of Sensors
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Classification of Sensors
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Characterizing Sensor Performance
33
Sensing in Mobile Robotics
• Examples:
– changing illuminations
– specular reflections
– light or sound absorbing surfaces
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Measurement Errors
• Systematic error
– Deterministic
– Caused by factors that can (in theory) be modeled
– Predictable
• Calibration of a laser sensor
• Calibration of the distortion cause by the optic lens of a
camera
• Calibration of odometry for self-localisation
• Random error
– non-deterministic
– no prediction possible
– however, can be described probabilistically
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• Error of range measurements
More Reading
SECTION 4: Perception
Textbook:
Introduction to Autonomous
Mobile Robots
Authors:
Roland Siegwart and Illah R.
Nourbakhsh,
Publisher:
MIT Press,
ISBN: 978-0-262-19502-7
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