| Autor: |
Kazuya Nakajima, Chinthaka Premachandra, Kiyotaka Kato |
| Jazyk: |
angličtina |
| Rok vydání: |
2017 |
| Předmět: |
|
| Zdroj: |
Journal of Electrical Systems and Information Technology, Vol 4, Iss 2, Pp 289-298 (2017) |
| Druh dokumentu: |
article |
| ISSN: |
2314-7172 |
| DOI: |
10.1016/j.jesit.2017.01.007 |
| Popis: |
The light weight of ultrasonic sensors makes them useful for collecting environment information from mobile robots. Ultrasonic sensors are generally used in a circular formation in surface-moving robots, but this is not suitable for small flying robots, which require small size and light weight. Here we created a movable ultrasonic range sensor by combining a small, lightweight servomotor and a single ultrasonic range sensor. This sensor could perform 360° measurements of the distance between objects and the robot. We furthermore constructed a measurement system to perform 3D environment mapping and self-localization by equipping a small flying robot with this movable ultrasonic range sensor and a ground-facing ultrasonic range sensor for altitude measurements. We verified the system by means of a flight test and found that 3D environment mapping and self-localization were realized in real time. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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