Krzysztof Fujarewicz
Predictive Model of Sensor Readings for a Mobile Robot
336 - 340
2007
1
2
International Journal of Electrical and Computer Engineering
https://publications.waset.org/pdf/15955
https://publications.waset.org/vol/2
World Academy of Science, Engineering and Technology
This paper presents a predictive model of sensor readings for mobile robot. The model predicts sensor readings for given time horizon based on current sensor readings and velocities of wheels assumed for this horizon. Similar models for such anticipation have been proposed in the literature. The novelty of the model presented in the paper comes from the fact that its structure takes into account physical phenomena and is not just a black box, for example a neural network. From this point of view it may be regarded as a semiphenomenological model. The model is developed for the Khepera robot, but after certain modifications, it may be applied for any robot with distance sensors such as infrared or ultrasonic sensors.
Open Science Index 2, 2007