Effect of global position information in unknown world exploration - A case study using the Teleworkbench

Amin S, Tanoto A, Witkowski U, Abdel-Wahab M (2009)
Robotics and Autonomous Systems 57(10): 1042-1047.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
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Autor*in
Amin, Safaa; Tanoto, Andry; Witkowski, Ulf; Abdel-Wahab, Mohammed
Abstract / Bemerkung
This paper presents empirical results of the effect of the global position information on the performance of the modified local navigation algorithm (MLNA) for unknown world exploration. The results show that global position information enables the algorithm to maintain 100% success rate irrespective of initial robot position, movement speed, and environment complexity. Most mobile robot systems accrue an odometry error while moving, and hence need to use external sensors to recalibrate their position on an ongoing basis. We deal with position calibration to compensate the odometry error using the global position information provided by the Teleworkbench, which is a teleoperated platform and test bed for managing experiments using mini-robots. In this paper we demonstrate how we incorporate the global position information during and after the experiments.
Erscheinungsjahr
2009
Zeitschriftentitel
Robotics and Autonomous Systems
Band
57
Ausgabe
10
Seite(n)
1042-1047
ISSN
0921-8890
Page URI
https://pub.uni-bielefeld.de/record/2144874

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Amin S, Tanoto A, Witkowski U, Abdel-Wahab M. Effect of global position information in unknown world exploration - A case study using the Teleworkbench. Robotics and Autonomous Systems. 2009;57(10):1042-1047.
Amin, S., Tanoto, A., Witkowski, U., & Abdel-Wahab, M. (2009). Effect of global position information in unknown world exploration - A case study using the Teleworkbench. Robotics and Autonomous Systems, 57(10), 1042-1047. doi:10.1016/j.robot.2009.07.019
Amin, S., Tanoto, A., Witkowski, U., and Abdel-Wahab, M. (2009). Effect of global position information in unknown world exploration - A case study using the Teleworkbench. Robotics and Autonomous Systems 57, 1042-1047.
Amin, S., et al., 2009. Effect of global position information in unknown world exploration - A case study using the Teleworkbench. Robotics and Autonomous Systems, 57(10), p 1042-1047.
S. Amin, et al., “Effect of global position information in unknown world exploration - A case study using the Teleworkbench”, Robotics and Autonomous Systems, vol. 57, 2009, pp. 1042-1047.
Amin, S., Tanoto, A., Witkowski, U., Abdel-Wahab, M.: Effect of global position information in unknown world exploration - A case study using the Teleworkbench. Robotics and Autonomous Systems. 57, 1042-1047 (2009).
Amin, Safaa, Tanoto, Andry, Witkowski, Ulf, and Abdel-Wahab, Mohammed. “Effect of global position information in unknown world exploration - A case study using the Teleworkbench”. Robotics and Autonomous Systems 57.10 (2009): 1042-1047.