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AuthorBank, Dirkdc.contributor.author
Date of accession2016-03-14T13:38:48Zdc.date.accessioned
Available in OPARU since2016-03-14T13:38:48Zdc.date.available
Year of creation2005dc.date.created
AbstractNew approaches in the research fields of ultrasonic sensing, environment mapping and self-localization, as well as fault detection, diagnosis, and recovery for autonomous mobile systems are presented. A concept of high-resolution ultrasonic sensing by a multi-aural sensor configuration is proposed, which incorporates cross echoes between neighbour sensors as well as multiple echoes per sensor. In order to benefit from the increased sensor information, algorithms for adequate sensor data processing and sensor data fusion have been developed. In this context, it is described how local environment models can be created at different robot locations by extracting geometric primitives from laser range finder data and from ultrasonic sensor data. Additionally, the application of an extended Kalman filter to mobile robot self-localization based on previously modeled and newly extracted geometric primitives is explained. Furthermore, it is demonstrated how local environment models can be merged for building a global environment map. As a supplement for monitoring the state of environmental sensors, a fault detection model has been developed, which consists of sub-models for data from laser range finders and ultrasonic sensors.dc.description.abstract
Languageendc.language.iso
PublisherUniversität Ulmdc.publisher
LicenseStandard (Fassung vom 03.05.2003)dc.rights
Link to license texthttps://oparu.uni-ulm.de/xmlui/license_v1dc.rights.uri
KeywordEnvironment modelingdc.subject
KeywordFault detection and diagnosisdc.subject
KeywordLaser scanner sensingdc.subject
KeywordMap buildingdc.subject
KeywordParameter space clusteringdc.subject
KeywordSelf-localizationdc.subject
KeywordTangential regressiondc.subject
KeywordUltrasonic sensingdc.subject
Dewey Decimal GroupDDC 004 / Data processing & computer sciencedc.subject.ddc
LCSHMobile robotsdc.subject.lcsh
LCSHMultisensor data fusiondc.subject.lcsh
TitleHigh-resolution ultrasonic sensing for autonomous mobile systemsdc.title
Resource typeDissertationdc.type
DOIhttp://dx.doi.org/10.18725/OPARU-377dc.identifier.doi
URNhttp://nbn-resolving.de/urn:nbn:de:bsz:289-vts-58849dc.identifier.urn
GNDAutonomer Roboterdc.subject.gnd
FacultyFakultät für Informatikuulm.affiliationGeneral
Citation of original publ.(Fortschrittberichte VDI : Reihe 8 ; 1086). - Düsseldorf : VDI-Verl., 2005. - ISBN 3-18-508608-2uulm.citationOrigPub
Date of activation2007-04-25T16:26:11Zuulm.freischaltungVTS
Peer reviewneinuulm.peerReview
Shelfmark print versionZ: J-H 8.996; W : W-H 8.542uulm.shelfmark
DCMI TypeTextuulm.typeDCMI
VTS-ID5884uulm.vtsID
CategoryPublikationenuulm.category


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