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Sensor roll angle error for a mobile robot using a navigation line
September 1988 (vol. 10 no. 5)
pp. 727,728,729,730,731
An investigation of the effects of various error components in a mobile robot system, which uses a navigation line, was previously reported by the author in 1985. An analysis of the effects of these error components on the navigation line-width determination and obstacle-range determination is presented that provided equations that are used to predict the error resulting from changes in various system parameters. In particular, the change in the rotation angle of the robot sensor about its optical axis, called the roll angle, is examined. Numerical examples showing the characteristics of the derived error equations are also given.<>

[1] R. A. Schmidt, Jr., "A study of the real-time control of a computer driven vehicle," doctoral dissertation, Dep. Comput. Sci., Stanford Univ., Stanford, CA, Aug. 1971.
[2] K. C. Drake, E. S. McVey, and R. M. Iñigo, "Sensing error for a mobile robot using line navigation,"IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-7, July 1985.
[3] E. S. McVey, K. C. Drake, and R. M. Iñigo, "Range measurements by a mobile robot using a navigation line,"IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-8, Jan. 1986.
[4] K. C. Drake, E. S. McVey, and R. M. Iñigo, "'Experimental position and ranging results for a mobile robot,"IEEE J. Robot. Automation, accepted for publication, July 1986.
[5] R. O. Duda and P. E. Hart,Pattern Classification and Scene Analysis. New York: Wiley-Interscience, 1973, pp. 386-394.

Index Terms:
robots,computer vision,computerised navigation,error analysis,image sensors,optical axis,roll angle error,machine vision,visual navigation,mobile robot,navigation line,navigation line-width,obstacle-range,Mobile robots,Navigation,Robot sensing systems,Equations,Optical sensors,Error analysis,Sensor systems,Sensor phenomena and characterization,Robot kinematics,Optical devices
Citation:
"Sensor roll angle error for a mobile robot using a navigation line," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 10, no. 5, pp. 727,728,729,730,731, Sept. 1988, doi:10.1109/34.6783
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