Formulario robotica fronte

DH TRANSFRM MATRIX

REDUNDANCY: n-m,

n = DOM, n’=TCP DOF,

m = Task DOF Ti = Te+Tc

ORIENTATION PLANNING

CONVEX COMBINATION

Total interval Bang-bang VEDI SOTTO ***

ADDITIONAL CONSTRAINTS Gradient

VISION 2) preprocessing Gradient ( Sobel Operator )

Local enhancement

histogram

1) perception Laplacian

3) Segmentation 1) Perception = cameras, camera calibration, stereoscopic vision Gx

Gy

Local analysis 2) Preprocessing = avg of the neighborhood (blur contours), median

filter, avg of multiple images, stencils, enhanchement, histogram,

enhancement based on local properties, edge detection, gradient,

laplacian, canny, tresholding

3) Segmentation =Local analysis,Globalanalysis with Houghdiagram,segmentation through tresholding, pixel aggregation region

(odom) growing

Process model

Mobile 4) Description =Chained code,normalization, characteristic shape (monodim. Funct. Descript / Fourier descr), texture(hist.moments)

5) Recognition = pattern vector, decision function, Ruledriven, Datadriven, Hybrid, Training,Test&Validation

Meas. model ** Bicycle

Kalman(Lin. Gauss.system) Unicycle

(weighted samples for

Particle Filters

approx robot pose belief) Inverse kinematics DEF ODOMETRY

particle set given motion model)

-prediction(new

(assign at each particle a weight accord

-update

to sensor) particle wrt their weight)

-resampling(resample Mapping

Usa campioni random pesati per env assuming robot pose:

Building a consistent repr of the

approssimare la ddp(belief) del robot pose. Non-holonomic constr

Sensors Tipi: stoch maps with probabilistic

-

-Landmark-based repr.

-dynamic range 1.Encoders,resolver -Occupancy grid-maps description of scenario

-Resolution TR PLANNING***

2.Inertial sensor:

-Bandwidth -Heading sensors HD models of enviroment

-

-accuracy SLAM

-inclinometers

-precision

MOBILE ** -compasses

-gyrocompasses Incremental(more easy we calculate only v and a)

-Accel

-Gyrosc(mechanical e optical(Sagnac)) posit of landmarks in the state vector)

(Include

3.Beacons

4.Distance/prox sens. Complex, can diverge due to non lin

5.Accelerom/Inert.Measurm Unit

6.Vision Absolute

scriptum

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