Navigating an outdoor robot along continuous landmarks with ultrasonic sensing

被引：27

作者：

Ratner, D ^{[1
]}

McKerrow, P ^{[1
]}

机构：

[1] Univ Wollongong, Sch Informat Technol & Comp Sci, Wollongong, NSW 2522, Australia

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2003年 / 45卷 / 02期

关键词：

landmark navigation; piloting; mobile robot; CTFM ultrasonic sensing;

D O I：

10.1016/S0921-8890(03)00096-4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Titan is a mobile robot built for outdoor navigation research. In this paper, we report on research into navigation along concrete paths through a park using the edge of the path as a continuous landmark. Titan measures its location relative to the path edge with a continuous transmission frequency modulated (CTFM) ultrasonic sensor and steers to follow a trajectory relative to the edge. When it loses the edge, it commences a recovery strategy. (C) 2003 Elsevier B.V. All rights reserved.

引用

页码：73 / 82

页数：10

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