Please enable javascript in your browser.
Page
of
0
کنترل حرکت یک توده روباتیکی با احتساب اثر نویز سنسورها
مهپور، آیدین Mahpour, Aidin
Cataloging brief
کنترل حرکت یک توده روباتیکی با احتساب اثر نویز سنسورها
پدیدآور اصلی :
مهپور، آیدین Mahpour, Aidin
ناشر :
صنعتی شریف
سال انتشار :
1389
موضوع ها :
توده رباتیکی Robotic Swarm فیلترهای کالمن Kalman Filters تزویج حسگر Sensor Fusion
شماره راهنما :
58-40748
Find in content
sort by
page number
page score
Bookmark
Introduction
(12)
1.1 Definition
(12)
1.2 Swarm Robotic
(12)
1.3 Swarm Control
(15)
1.4 Swarm dynamics, Coordination and Control
(15)
1.4.1 Swarm Model Characteristic
(16)
1.4.3 Discussion on Swarm Center Motion
(19)
1.4.4 Swarm Coordination
(22)
1.4.5 Swarm members’ Robot Characteristics
(25)
1.4.6 Thesis Objectives
(26)
1.5 Outline
(27)
Geometric and Kinematic Modeling of the Agents
(29)
2.1 Mobile Robot Kinematics
(29)
2.2 Wheel type and Arrangement
(30)
2.3 Appropriate Geometry and Kinematic Model
(32)
2.4 Swarm Communication
(35)
2.4.1 Communication System
(36)
Sensor Selection and Sensor Noise Characteristics
(38)
3.1 Ultrasonic Sensors
(38)
3.2 IR Sensors
(38)
3.3 Rotary IR Sensor System
(39)
3.4 Fixed IR Sensor Systems
(40)
3.5 Sensor Information Processing
(42)
3.6 Statistical Analysis of the Sensor Output
(44)
3.7 Dynamic Distance Measurement
(45)
3.8 Global Positioning System
(50)
3.9 Optical Flow Sensors
(52)
3.10 Odometer
(52)
/
(52)
Sensor Noise Effects Analysis and Filter Design
(55)
4.1 Selecting Appropriate Swarm Parameters
(56)
4.2 Analyzing Sensory Noise Effects on the Swarm Control
(58)
4.3 Kalman filter, Low pass and Sensor Fusion Design
(66)
4.4.1 Introduction to Kalman filter
(66)
4.4.2 Kalman Filter Design
(67)
4.5 Low Pass Filter Design
(71)
4.5 Sensor Fusion Design
(73)
Simulations Results and Conclusion
(76)
5.1 Low Pass Filter Performance
(77)
5.2 Conclusions and Future Works
(86)
D.1 Robot kinematic constraints
(102)
D.2 Spherical wheel
(103)
D.3 Swedish wheel
(104)
D.4 Castor wheel
(104)
F.1 Important points of Communication
(113)
