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AutorBank, Dirkdc.contributor.author
Aufnahmedatum2016-03-14T13:38:48Zdc.date.accessioned
In OPARU verfügbar seit2016-03-14T13:38:48Zdc.date.available
Jahr der Erstellung2005dc.date.created
ZusammenfassungNew 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
Spracheendc.language.iso
Verbreitende StelleUniversität Ulmdc.publisher
LizenzStandard (Fassung vom 03.05.2003)dc.rights
Link zum Lizenztexthttps://oparu.uni-ulm.de/xmlui/license_v1dc.rights.uri
SchlagwortEnvironment modelingdc.subject
SchlagwortFault detection and diagnosisdc.subject
SchlagwortLaser scanner sensingdc.subject
SchlagwortMap buildingdc.subject
SchlagwortParameter space clusteringdc.subject
SchlagwortSelf-localizationdc.subject
SchlagwortTangential regressiondc.subject
SchlagwortUltrasonic sensingdc.subject
DDC-SachgruppeDDC 004 / Data processing & computer sciencedc.subject.ddc
LCSHMobile robotsdc.subject.lcsh
LCSHMultisensor data fusiondc.subject.lcsh
TitelHigh-resolution ultrasonic sensing for autonomous mobile systemsdc.title
RessourcentypDissertationdc.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
FakultätFakultät für Informatikuulm.affiliationGeneral
Quelle Originalpublikation(Fortschrittberichte VDI : Reihe 8 ; 1086). - Düsseldorf : VDI-Verl., 2005. - ISBN 3-18-508608-2uulm.citationOrigPub
Datum der Freischaltung2007-04-25T16:26:11Zuulm.freischaltungVTS
Peer-Reviewneinuulm.peerReview
Signatur DruckexemplarZ: J-H 8.996; W : W-H 8.542uulm.shelfmark
DCMI MedientypTextuulm.typeDCMI
VTS-ID5884uulm.vtsID
KategoriePublikationenuulm.category


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