Information Technology Reference
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Rotationrange °
(3)
.
The similarity is defined as the absolute value of the difference value of the length in
RF_Array of each of the hypothesis point and the length in F_Array of the robot
real-time information (4), where RF_Array is the rotation of F_Array of the
hypothesis point.
Similarity |RF_Arrayi F_Arrayi
| .
(4)
T is the number of all the length information in the array.
3.4
Move Tracking Method
There are locations with similar or even identical information that the laser
rangefinder will find. For example, the robot gets almost the same information at each
corner. It is impossible to identify the location with feature matching. When there are
several candidates need to be distinguished, the robot has to move and get new
information.
The move tracking method will guide the robot to move to a safe position by
commanding the robot move toward certain direction with certain distance. For
example, as shown in Fig. 7, there are several possible candidate positions that the
robot might be. The information that the laser rangefinder get, as shown in Fig. 8, can
be represented as the histogram in Fig. 9. And we group every 20 ° as a sector; each
sector has a character value which is defined by the smallest value, and the robot will
find the sector with largest character value as new direction. Here we shoes 20 °
based on our experience, different angles are possible.
This approach helps the robot move to a safe place. Once the robot changes its
position, it will gather new information and calculate new possible location. As
shown in Fig. 10. Only points with consistent position will be preserved. Thus, we
can delete impossible candidates and finally converge to one single location.
Fig. 7. The movement of robot
Fig. 8. The robot local information
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