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Sensing Error for a Mobile Robot Using Line Navigation
April 1985 (vol. 7 no. 4)
pp. 485-490
Keith C. Drake, School of Engineering and Applied Sciences, University of Virginia, Charlottesville, VA 22901.
E. S. McVey, School of Engineering and Applied Sciences, University of Virginia, Charlottesville, VA 22901.
R. M. Inigo, School of Engineering and Applied Sciences, University of Virginia, Charlottesville, VA 22901.
The use of a contrasting line for the visual navigation of autonomous mobile robots in a factory environment is developed. Minimum and maximum linewidths are determined analytically by considering sensor geometry, field of view, and error conditions present in the system. The effects of these error conditions on the width of the line, as seen in the image plane, determines the optimal linewidth. Numerical examples using typical sensor parameters are given.
Citation:
Keith C. Drake, E. S. McVey, R. M. Inigo, "Sensing Error for a Mobile Robot Using Line Navigation," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 7, no. 4, pp. 485-490, April 1985, doi:10.1109/TPAMI.1985.4767687
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