| Título: | Dynamic object localization via a proximity sensor network |
| Autores: | Petryk, Gregory Allen. |
| Fecha: | 1996 |
| Publicador: | McGill University - MCGILL |
| Fuente: |
 |
| Tipo: | Electronic Thesis or Dissertation |
| Tema: |
Engineering, Electronics and Electrical. Engineering, Mechanical. |
| Descripción: | Autonomous robotic operation in an unstructured or partially known environment requires sensing and sensor-based control. To overcome the problems with current "eye-in-hand" systems, miniature amplitude-based, infra-red proximity sensors are being studied. Obtaining position and velocity estimates of a rigid body with these sensors is a non-linear parameter and state estimation problem. Among the methods examined in simulation, Extended Kalman Filtering (EKF) was selected for implementation. A novel approach for object localization was developed in which the object geometry is known, sensing is performed by a proximity sensing network (PSN) and the object's unknown reflective properties are estimated on-line. The method has been tested extensively in simulation and experiments in which a target object's planar position and velocity were successfully estimated. To the author's knowledge this is the first time amplitude based infra-red sensors have been used to estimate a rigid body's unknown trajectory. |
| Idioma: | en |
1 Investigations on the form-genera Beauveria and Tritirachium por MacLeod, Donald Murdock | 6 Treatment and recovery in first-episode psychosis : a qualitative analysis of client experiences por Windell, Deborah L. |
2 Seismic sensitivity of tall guyed telecommunication towers. por Ghodrati Amiri, Gholamreza. | 7 |
3 Exploring the Relationship Between Assets and Family Stress Among Low-Income Families por Rothwell, David W.,Han, Chang-Keun | 8 |
4 The case for asset-based interventions with indigenous peoples: Evidence from Hawai‘i por Rothwell, David W. | 9 |
5 Second Thoughts: Who Almost Participates in an IDA Program? por Rothwell, David W.,Han, Chang-Keun | 10 Recent contributions to the phenomenology of musical time : a critical survey por Beaudreau, Pierre |