Avtor/Urednik		Mahkovic, Rajko; Slivnik, Tomaž
Naslov		Recalibration of mobile robot using passive feeler
Tip		članek
Vir		In: Christensen HI, Braeutigam C, Ridderstroem C, editors. Proceedings of the 5th international symposium on intelligent robotic systems '97; 1997 Jul 8-11; Stockholm. Stockholm: SIRS97 organizing committee,
Leto izdaje		1997
Obseg		str. 85-90
Jezik		eng
Abstrakt		Our paper describes a new recalibration method for mobile robot using passive feeler. The method takes the advantage of established landmarks such as any objects with flat side faces and sharp edges (e.g. square blocks) or walls. The sensor consists of a feeler whose rotation angle is measured by relative optical encoder. The feeler is slipping during the process of calibration over the surface of the referencing object. Sensor determines the misalignment of the robot with respect to the object on the basis of 'entrant' and 'leaving' angles, which are the angles at which the outmost point of the feeler touches or leaves the referencing face of the object. The method requires some estimation of position uncertainties to be able to find feasible recalibration region around the object.
Deskriptorji		ROBOTICS PATTERN RECOGNITION