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Global Localization and Mapping of a Two-Armed Robot with Omnidirectional Mecanum Wheels
|關鍵字:||擴張型卡爾曼濾波;Extended Kalman filtering (EKF);全域定位;地圖建立;體感控制器;Global localization;Mapping;KINECT||出版社:||電機工程學系所||引用:|| T. Fukao, H. Nakagawa, and N. Adachi, “Adaptive tracking control of a nonholonomic mobile robot,” IEEE Trans. Robot. Autom., vol. 16, no. 5, pp. 609–615, 2000.  D. Maksarov and H. Durrant-Whyte, “Mobile vehicle navigation in unknown environments: A multiple hypothesis approach,” Proc. Inst. Electr. Eng.—Control Application Theory, vol. 142, no. 4, pp. 385–400, 1995.  B. Triggs, “Model-based sonar localisation for mobile robots,” Robot., Auton. Syst., vol. 12, no. 3/4, pp. 173–186, 1994.  S. Thrun , M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hahnel, C. Rosenberg, N. Roy, J. Schulte, D. Schulte, “MINERVA: A second-generation museum tour-guide robot,” IEEE International Conference on Robotics and Automation, pp. 1999-2005,1999.  B. Graf, M. Hans, and R. D. Schraft, “Mobile robot assistants,” IEEE Robotics and Automation Magzine, vol. 11, no.2, pp.67-77, 2004.  B. Jensen, G. Froidevaux, X. Greppin, A. Lorotte, L. Mayor, M. Meisser, G. Ramel, R. Siegwart, “The Interactive Autonomous Mobile System Robox,” IEEE/RSJ International Conference on Intelligent Robots and System, pp. 1221-1227, 2002.  G. Kim, W. Chung, K.R. Kim, M. Kim, S. Han, R. H. Shinn, “The autonomous tour-guide robot Jinny,” IEEE/RSJ International Conference on Intelligent Robots and System, pp. 3450-3455, 2004.  P. S. Maybeck, Stochastic Models, Estimation, and Control, vol.1, New York, Academic Press, 1979.  F. Dellaert, D. Fox, W. Burgard, and S. Thrun, “Monte Carlo Localization for Mobile Robots,” in Proc. IEEE Int. Conf. Robotics and Automation, vol. 2, pp. 1322 –1328, 1999.  E. Kiriy and M. Buehler, “Three-State Extended Kalman Filter for Mobile Robot Localization,” Tech. Rep., McGill University, Montreal, Canada, 2002.  C. C. Tsai, H. S. Lin, and J. C. Hsu, “Ultrasonic Localization and Pose Tracking of an Autonomous Mobile Robot via Fuzzy Adaptive Extended Information Filtering,” IEEE Trans. Instrum. Meas., vol. 57, no. 9, 2008  R. Siegwart and I. R. Nourbakhsh, Introduction to Autonomous Mobile Robots. The MIT Press.  N. Ganganath and H. Leung, “Mobile Robot Localization Using Odometry and Kinect Sensor.” IEEE Int. Conf. ESPA, pp. 91 –94, 2012  PrimeSense Ltd., Palo Alto, CA 94301, USA, The Prime-Sensor Reference Design, 1.08 edition, 2010.  N. Karlsson, E. Di Bernardo, J. Ostrowski, L. Goncalves, P. Pirjanian, and M.E. Munich, “The vSLAM Algorithm for Robust Localization and Mapping, ” IEEE International Conference on Robotics and Automation, 2005.  A.J. Davison, I.D. Reid, N.D. Molton, and O. Stasse, “MonoSLAM Real Time Single Camera SLAM, ” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.29, no.6, pp.1052-1067, 2007.  F. Tungadi, L. Kleeman, “Discovering and restoring changes in object positions using an autonomous robot with laser rangefinders,” Robotics and Autonomous Systems, Vol. 59, No.2 pp. 428-443, 2011.  M. Paz Lina, P. Pedro, D.T. Juan, and N. Jos′e, “Large-Scale 6-DOF SLAM With Stereo-in-Hand,” IEEE TRANSACTIONS ON ROBOTICS, VOL. 24, NO. 5, 2008.  K.S. Chong and L. Kleeman, “Feature-based mapping in real, large scale environments using an ultrasonic array,” International Journal of Robotics Research, Vol. 18, No. 2, pp. 3-19, 1999  D.G. Lowe, “Object recognition from local scale-invariant features,” Proceedings of International Conference on Computer Vision, pp.1150-1157, 1999.  Bay, H., A. Ess, T. Tuytelaars, L. Van Gool, “SURF: speeded up robust features,” Computer Vision and Image Understanding, vol.110, pp.346-359, 2008.  H. Durrant-Whyte, and T. Bailey, “Simultaneous Localization and Mapping: Part 1,” IEEE Robotics and Automation Magazine, 2006.  H. Durrant-Whyte, and T. Bailey, “Simultaneous Localization and Mapping: Part 2,” IEEE Robotics and Automation Magazine, 2006.  Y. R. Lee, System Design, Intelligent Adaptive Motion Control for Mecanum Wheeled Omnidirectional Robots, Master thesis, Department of Electrical Engineering, National Chung-Hsing University, 2011.  T. T. Liang, System Design, Autonomous Task Execution of a Two-Armed Robot with Stereo Vision Camera, Master thesis, Department of Electrical Engineering, National Chung-Hsing University, 2011.||摘要:||
This thesis presents techniques for global localization and mapping of a mobile anthropomorphous two-armed robot (ATAR) with the KINECT sensor and Mecanum four-wheeled omnidirectional base. An EKF-based global localization of the mobile ATAR is presented by using several artificial landmarks with given positions and four encoders mounted on four-wheeled omnidirectional base. An EKF-based approach using SURF is proposed for global localization and mapping of the mobile ATAR based on partially unknown natural landmarks. To conduct required experimentation, this thesis constructs an experimental, mobile, anthropomorphous two-armed robotic system with two anthropomorphous dual arms, a SoPC-based controlled Mecanum four-wheeled omnidirectional base and a KINECT sensor. Several simulations and experimental results are conducted to show the accuracy and performance of both proposed methods. The proposed techniques might be of interests to professionals working in the field of intelligent robots.
|Appears in Collections:||電機工程學系所|
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