TAILIEUCHUNG - Enhanced robot pose estimation method using selective scan data in structured environments

This paper suggests enhanced robot pose estimation method by using selective scan data in structured environments. Previous pose estimation approaches, which estimate the pose by scan matching method, use scan data of constant interval. | Journal of Automation and Control Engineering Vol. 3, No. 5, October 2015 Enhanced Robot Pose Estimation Method Using Selective Scan Data in Structured Environments Wonsok Yoo and Beom H. Lee Department of Electrical and Computer Engineering, Seoul National University, Seoul, Republic of Korea Email: {yoowon0, bhlee}@ object registration with the scan matching algorithm. We changed the overlapping areas between two consecutive scan data for the efficiency of the registration. This technique is Selective Data Process (SDP). This technique alters the overlapping areas according to the prior scan data distribution. In this paper, we will extend this SDP, which is used for the object registration, to the robot pose estimation problem. The rest of this paper is organized as follows: Section II describes the problem of previous constant interval scan matching algorithms. Section III gives an overview of the SDP which is our previous work. Section IV describes detailed technique of our new approach. In section V, the experimental results are shown and the results of our new approach and previous approach are compared. Finally, we conclude the paper with an outlook on future work in section VI. Abstract—This paper suggests enhanced robot pose estimation method by using selective scan data in structured environments. Previous pose estimation approaches, which estimate the pose by scan matching method, use scan data of constant interval. However, these approaches do not consider the property that scans matching result is affected by the scan data distribution in the overlapping areas between two consecutive scans. Our proposed method varies scan interval in order to adjust overlapping areas between current and next scans. Through the experiments, we compared our method to the previous approaches which use constant interval scans and verified improved performance of our new approach. Index Terms—robot, pose estimation, scan matching, map building, selective data

• Cơ khí - Chế tạo máy
• Journal of Automation and Control Engineering
• Enhanced robot pose estimation method
• Selective scan data in structured environments
• Selective data process
• Verified improved performance
• Two consecutive scans
• Increasing the productivity of automation tool by developing socket
• Automation tool by developing socket
• Auto report generated
• The automation tool
• Abnormality management in industrial automation systems
• Industrial automation systems
• Future industrial automation systems
• Abnormality management approach
• Sliding mode based relative pose synchronous control
• Space autonomous rendezvous
• Relative pose synchronous control
• The control system design
• The sliding mode control law
• Application of pressure control type quasiservo valve
• Force control system
• The quasi servo valve
• The pneumatic cylinder
• Robust vehicle suspension system
• Converting active & passive control
• A vehicle to semi active control system analytically
• Semi Active Vehicle System
• Environmental control of a greenhouse system
• NI embedded systems technology
• The soil moisture
• The Engineering School of Bahrain Polytechnic
• Design of control system for 3D printer
• DSP and FPGA
• Control system for 3D printer
• Closed loop control
• Improving performances of a cement rotary kiln
• A model predictive control solution
• Cement rotary kiln
• Advanced process control
• Model predictive control
• Active learning in motor control and matlab simulation
• Active learning in motor control
• Servo motors of the simulation of neural networks
• Motion of a robot arm
• Redundancy and operation of power control system
• A deep space small probe
• Functions of redundancy
• Power Control Unit
• Closed loop speed control of miniature brushless DC motors
• Closed loop speed control
• Miniature brushless DC motors
• Delta Connected BLDC motors
• Adaptive wavelet backstepping control
• Class of mimo underactuated systems
• Multi input multi output
• Proposed control scheme
• Adaptive backstepping controller
• Hybrid position force control for a stewart platform
• Hybrid position force control
• The work surface
• The stewart platform
• Robust control of double inverted pendulum system
• Double inverted pendulum system
• Reference trajectory control
• The dynamic modeling
• Speech recognition in human computer interactive control
• Computer interactive control
• HTK and Sphinx
• Vietnamese speech recognition
• Human computer interaction
• Command shaped robust control of a flexible spacecraft
• Command shaped robust control
• Strong cross couplings
• Loop shaping design
• Optimal control of vehicle active suspension system
• Vehicle active suspension system
• The active suspension system
• LQR control technique
• Mimo fuzzy control for autonomous mobile robot
• Mimo fuzzy control
• Autonomous mobile robot
• Implementation of multi input multi output
• Reach defined target
• Asynthesis method of robust cascade control system
• Robust cascade control system
• Imposes robust conditions
• Soft oscillation index
• Efficient adaptive fuzzy control scheme for industrial manipulators
• Degree of freedom
• Fuzzy control scheme
• IMO nonlinear second order systems
• Multilevel inverter topology and control techniques
• Reduce electromagnetic interference
• Control strategies employed
• Linear quadratic optimal control problem of stochastic switching systems
• Linear quadratic optimal control problem
• Stochastic switching systems
• Non invariant linear systems
• Investigation of hybrid adaptive control schemes
• Needle free jet injection system
• Hybrid adaptive control schemes
• Needle free jet injection
• Modelling and simulations
• Development of a new algorithm
• Control excitation of particular mode of a building
• Particular mode of a building
• Sliding mode control
• Control of electric motor machine tools
• Self organizing fuzzy logic controller
• Modify the control rule
• The self organizing fuzzy logic controller