Đang chuẩn bị nút TẢI XUỐNG, xin hãy chờ
Tải xuống
Tham khảo tài liệu 'mobile robots navigation 2008 part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 148 Mobile Robots Navigation a 0.26 0.24 0.22 0.2 0.18 0.16 0.14 0.12 0.1 0.08 2 1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 14 12 Dmax 10 8 1 1.5 2 2.5 1.4 1.3 1.2 1.1 1 0.9 0.8 0.7 0.6 0.5 0.4 AP b Fig. 10. Displacement error as a function of projected measurement error Az. a Measurement error Az 0.01. b Measurement error Az 0.05. Parallel Projection Based Self Localization Method for Mobile Navigation Applications 149 Both results show that the algorithm is more prone to error when distance from the mobile sensor to the reference points is larger and when the references are closer to one another. From Fig. 9 and Fig. 10 we know that estimation error is smaller when the distance between the reference objects along the camera plane is larger. Since our iteration algorithm uses two pairs of reference objects out of three pairs that can be made from three reference objects given three reference points R1 R2 and R3 we can choose two pairs that give maximum distance on the camera plane to minimize error. This selection criterion can be applied also when there are more than three reference objects viewable and three of them need to be selected for self localization. 5. Analysis and Simulation 5.1 Experimental Setup 14.63m Fig. 11. Experimental setup used in the self localization illustration. 10 reference points are used by the mobile sensor located at 6 distinct coordinates. Fig. 11 shows the experimental setup for the verification of the proposed method. A mobile sensor is placed at several positions indicated by P1 P2 . P6 with P1 as the .
