Design and evaluation of an integrated planar localization method for desktop robotics

Singh, SPN; Waldron, KJ

Design and evaluation of an integrated planar localization method for desktop robotics

Singh, SPN Waldron, KJ

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Publication Type:: Conference Proceeding
Citation:: Proceedings - IEEE International Conference on Robotics and Automation, 2004, 2004 (2), pp. 1109 - 1114
Issue Date:: 2004-07-05

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Field	Value	Language
dc.contributor.author	Singh, SPN	en_US
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2004-07-05	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2004, 2004 (2), pp. 1109 - 1114	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11006
dc.description.abstract	Localization and measurement of displacement are critical aspects to the operation and control of mobile robots. The motion of desktop robots, a class of mobile robots designed for use on a table, can be considered a special case of the general localization problem since the vehicle is primarily operated over a flat surface. Using the assumption that the motion of a desktop robot is essentially planar, this paper presents a novel method that senses the motion of two points to obtain both the position and orientation of the robot in two-dimensional space. The paper details how this method can be implemented using low-cost, off-the-shelf sensor hardware components and demonstrates its application in the Desktop-Bot, a compact desktop robot. Experimental testing validated features of this planar localization such as: estimation with minimal mean error (or drift), no external sensing hardware apparatus (i.e., on-board sensing), fast-update rates (∼50 Hz) and robustness to external occlusion.	en_US
dc.relation.ispartof	Proceedings - IEEE International Conference on Robotics and Automation	en_US
dc.title	Design and evaluation of an integrated planar localization method for desktop robotics	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2	en_US
utslib.citation.volume	2004	en_US
utslib.for	091399 Mechanical Engineering not elsewhere classified	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	091302 Automation and Control Engineering	en_US
dc.location.activity	New Orleans, USA	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.issue	2	en_US
pubs.publication-status	Published	en_US
pubs.volume	2004	en_US

Abstract:

Localization and measurement of displacement are critical aspects to the operation and control of mobile robots. The motion of desktop robots, a class of mobile robots designed for use on a table, can be considered a special case of the general localization problem since the vehicle is primarily operated over a flat surface. Using the assumption that the motion of a desktop robot is essentially planar, this paper presents a novel method that senses the motion of two points to obtain both the position and orientation of the robot in two-dimensional space. The paper details how this method can be implemented using low-cost, off-the-shelf sensor hardware components and demonstrates its application in the Desktop-Bot, a compact desktop robot. Experimental testing validated features of this planar localization such as: estimation with minimal mean error (or drift), no external sensing hardware apparatus (i.e., on-board sensing), fast-update rates (∼50 Hz) and robustness to external occlusion.

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http://hdl.handle.net/10453/11006