This paper presents position estimation techniques used in the mobile robot navigation field. In the first part the recent filtering algorithms are presented based on the Kalman filter such as the Extended Kalman Filter, the Unscented Kalman Filter or the Unscented Particle Filter. The second part of the paper contains the analyses for the presented algorithms. ÖsszefoglalásA dolgozatban témája a navigációban használatos pozíció becslő algoritmusok közül néhány új típusú algoritmus bemutatása valamint kiértékelése. A dolgozat első felében a lineáris és kiterjesztett Kalman szűrő mellett bemutatja az Unscented transzformációra alapozó Unscented Kalman szűrőt valamint a Unscented részecske szűrőt. A dolgozat második fele az algoritmusok kiértékelését tartalmazza. Kulcsszavak:Gauss típusú szűrő, pozíció becslés, részecske szűrők Prof. LAZEA Gheorghe valamint TAMÁS Levente és MAJDIK András
The need of human helping robots is imposed by the nowadays trend towards protecting the physically impaired people. New researches in this area have arisen in the past years. In the next few lines an overview of the state of the art in this domain will be made. The main objective in this paper is to demonstrate the simultaneous localization for a wheelchair, using elecromiographic signals. So far the research on robots used for helping disabled people has been focusing mainly on replacing limbs by robotic prosthesis or surgery
Mobile robot applications are faced with the problem of communicating large amounts of information, whose structure and significance changes continuously. A traditional, layered style of communication creates a cooperation problem as fix protocols and message meaning cannot mediate the dynamic, novel types of behaviors mobile robots are acquiring in their environment. We propose by contrast, a nonhierarchical communication control mechanism based on the software paradigm of multiagent systems that have specialized ontologies. It is a communication at ontological level, which allows efficient changes in the content of the messages among robots and a better adaptability and specialization to changes. The intended application is a cooperative mobile robot system for monitoring, manipulating and cleaning in a supermarket. The focus of the paper is to simulate a number of well-defined, controllable and repeatable critical ontological situations encountered in this environment that validate the system cooperation tasks.
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