Ultrasonic TOF Systems Ultrasonic TOF ranging is today the most common technique employed on indoor mobile robotics systems, primarily due to the ready availability of low-cost systems and their ease of interface. Over the past decade, much research has been conducted investigating applicability in such areas as world modeling and collision avoidance, position estimation, and [...]
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Digital Compass For Mobile Robot Navigation
Mobile robots, is a term often used to mean a robot that has the ability to roam. No matter whether the robot moves using wheels, legs, or fan for swimming or even flying though, so this kind of robots into the category of mobile robots. In order not to stray, the robot must be equipped [...]
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Ackerman Steering
Ackerman Steering Used almost exclusively in the automotive industry, Ackerman steering is designed to ensure that the inside front wheel is rotated to a slightly sharper angle than the outside wheel when turning, thereby eliminating geometrically induced tire slippage. As seen in Figure 1.8, the extended axes for the two front wheels intersect in a [...]
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Doppler Sensors
Doppler Sensors The rotational displacement sensors discussed above derive navigation parameters directly from wheel rotation, and are thus subject to problems arising from slippage, tread wear, and/or improper tire inflation. In certain applications, Doppler and inertial navigation techniques are sometimes employed to reduce the effects of such error sources. Doppler navigation systems are routinely employed [...]
