Intro to Mobile Robots

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    An Introduction to Mobile Robotics

    Who am I.

    Steve Goldberg10+ years building robots for ASA!"#$

    Wor%ed on M&R' (ig)og and *rusher

    & ,ert in stereo vision and autonomous navigation

    *urrently head of Robotics at Adigo Mechatronics in-,,egard

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    Mani,ulators and Mobile Robots

    Mani,ulators

    -,erate in a constrained or%s,ace ave absolute measurements of

    ,osition

    May or may not need to ,erceive theorld around them.

    Mobile Robots

    *an o,erate in unconstrained environments eed e ternal sensing to determine ,osition

    eed e ternal sensing to avoid obstacles

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    Sensing

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    Sensing

    Any information a robot collects about it self or itsenvironment re/uires sensing.

    Robots that ant to learn' ma, and!or navigate need tocollect information about their surroundings.

    All sensors have some degree of uncertainty 3ncertainty can be reduced by multi,le measurements.

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    Sensing 1

    o things to sense Its o n state 4#ro,rioce,tive5

    Motor s,eed' battery voltage' 6oint angles' etc he orld 4& teroce,tive5

    &verything and anything about the orld around it self o ty,es of sensors

    Active #ro6ect energy out to measure it7s return

    #assive Sense the natural energy around it self

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    Sensing 8

    #assive #ro,rioce,tive hermometer #otentiometers

    Accelerometer

    #assive & teroce,tive *ameras *ontact sensors

    *om,ass

    Active #ro,rioce,tive -,tical &ncoder Gyrosco,es

    Active & teroce,tive Sonar $asers G#S

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    Sensing 9

    Sensing erms )ynamic range

    3,,er and lo er limits of a sensorsin,ut values

    &rror )ifference bet een measured and true

    values Accuracy

    Ability to ,roduce measurements ithlittle error

    #recision

    Ability to re,roduce a measurementhen ,resented ith the same in,ut.

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    Sensing :

    y,es of &rror Systematic

    &rrors introduced by ,oor modeling of the sensor Random &rror

    on;deterministic behaviors Sources of &rror

    &nvironment $o light' glossy surfaces

    *alibration #rinci,ally noisy methodologies

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    Sensing