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Algorithms and sensors for small robot path following

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dc.contributor.author Hogg, Robert W.
dc.contributor.author Rankin, Arturo L.
dc.contributor.author Roumeliotis, Stergios I.
dc.contributor.author McHenry, Michael C.
dc.contributor.author Helmick, Daniel M.
dc.contributor.author Bergh, Charles F.
dc.contributor.author Matthies, Larry
dc.date.accessioned 2007-09-07T22:20:40Z
dc.date.available 2007-09-07T22:20:40Z
dc.date.issued 2002-05-11
dc.identifier.citation IEEE International Conference on Robotics and Automation, Washington, D.C., May 11-15, 2002 en
dc.identifier.clearanceno 01-2447
dc.identifier.uri http://hdl.handle.net/2014/40396
dc.description.abstract Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots. en
dc.description.sponsorship NASA/JPL en
dc.format.extent 1258146 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US en
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2002 en
dc.subject mobile robots en
dc.subject path following en
dc.subject Kalman filtering en
dc.subject leader/folloer en
dc.subject sensors en
dc.subject pure pursuits en
dc.subject localizations en
dc.title Algorithms and sensors for small robot path following en
dc.type Preprint en


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