Sensors and Methods for Mobile Robot Positioning

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28 Part I Sensors for Mobile Robot Positioning Truck A Castor Castor Drive wheel Drive wheel Drive wheel Truck B \book\clap30.ds4, Drive wheel clap30.wmf, 07/19/95 Figure 1.15: The compliant linkage is instrumented with two absolute rotary encoders and a linear encoder to measure the relative orientations and separation distance between the two trucks. Figure 1.16: The University of Michigan's MDOF vehicle is a dualdifferential-drive multi-degree-of-freedom platform comprising two TRC LabMates. These two "trucks” are coupled together with a compliant linkage, designed to accommodate momentary controller errors that would cause excessive wheel slippage in other MDOF vehicles. (Courtesy of The University of Michigan.) 1.3.8 Tracked Vehicles d min d max Track footprint Figure 1.17: The effective point of contact for a skid-steer vehicle is roughly constrained on either side by a rectangular zone of ambiguity corresponding to the track footprint. As is implied by the concentric circles, considerable slippage must occur in order for the vehicle to turn [Everett, 1995]. Yet another drive configuration for mobile robots uses tracks instead of wheels. This very special implementation of a differential drive is known as skid steering and is routinely implemented in track form on bulldozers and armored vehicles. Such skid-steer configurations intentionally rely on track or wheel slippage for normal operation (Figure 1.17), and as a consequence provide rather poor dead-reckoning information. For this reason, skid steering is generally employed only in tele-operated as opposed to autonomous robotic applications, where the ability to surmount significant floor discontinuities is more desirable than accurate odometry information. An example is seen in the track drives popular with remote-controlled robots intended for explosive ordnance disposal. Figure 1.18 shows the Remotec Andros V platform being converted to fully autonomous operation (see Sec. 5.3.1.2).
Chapter 1: Sensors for Dead Reckoning 29 Figure 1.18: A Remotec Andros V tracked vehicle is outfitted with computer control at the University of Michigan. Tracked mobile platforms are commonly used in teleoperated applications. However, because of the lack of odometry feedback they are rarely (if at all) used in fully autonomous applications. (Courtesy of The University of Michigan.)
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CHAPTER 5 ODOMETRY AND OTHER DEAD-R
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132 Part II Systems and Methods for
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R e t r o r e f l e c t i v e m a r
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CHAPTER 8 MAP-BASED POSITIONING Map
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218 Appendices, References, Indexes
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220 Appendices, References, Indexes
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Systems-at-a-Glance Tables Odometry
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Systems-at-a-Glance Tables Global N
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Systems-at-a Glance Tables Beacon N
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Systems-at-a-Glance Tables Landmark
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REFERENCES 1. Abidi, M. and Chandra
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238 References 31. Boltinghouse, S.
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240 References MOBOT-IV.” Proceed
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242 References 90. Dahlin, T. and K
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244 References 120. Fisher, D., Hol
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246 References 156. Janet, J., Luo,
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248 References 187. Larsson, U., Ze
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250 References 220. Nolan, D.A., Bl
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252 References 249. Sanders, G.A.,
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254 References 278. Turpin, D.R., 1
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256 References 309. EATON - Eaton-K
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258 References 349. SPSi - Spatial
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260 References 380. MacKenzie, P. a
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262 Index AC ..............47, 59,
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264 Index Datums ..................
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280 Index Video Index This CD-ROM c
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282 Index Paper 52 Paper 53 Paper 5
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