Design of a terrain tentative sensing machine/sensor for a mobile robot |
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Authors: | Feng-bin Qiao Ting-Kai Xia Ru-Qing Yang Zheng-Fei Xu |
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Affiliation: | (1) Research Institute of Robotics, Class: A0206021(mail box: 109), Shanghai Jiaotong University, 1954 Huashan Road, Shanghai, 200030, P.R. China |
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Abstract: | TTSMS is a typical four-link terrain tentative sensing machine/sensor. It can sense some parameters of the front terrain for
mobile robots and simply process the sensing data to obtain a simple model of the terrain, and then instruct the robot to
operate accurately in the uncertain terrain. The TTSMS features a simple structure and the capability of sensing a convexity-terrain.
The principle of the TTSMS, its mechanical structure, the adoption of its parameters and the terrain-restriction condition
of TTSMS are introduced in this paper. The TTSMS resolved the key problem of sensing obstacles in real time for mobile robots
moving in a three-dimensional terrain environment . |
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Keywords: | Autonomous motion control test-bed Convexity-terrain Mobile robot Terrain perception Terrain tentative sensing machine/sensor |
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