1,651 research outputs found
High Speed Differential Drive Mobile Robot Path Following Control With Bounded Wheel Speed Commands
No full textAbstract — The great majority of path following control laws for either kinematical or dynamical mobile robot models are designed assuming ideal actuators, i.e. assuming that any commanded velocity or torque (in the kinematical and dynamical cases respectively) will be instantly implemented regardless of its value. Real actuators are far from being ideal. In particular, only bounded velocities and torques can be realized for any given command. With reference to the kinematical model of a differential drive mobile robot, a known path following control law is modified to account for actuator velocity saturation. The proposed solution is experimentally shown to be particularly useful for high speed applications where accounting for actuator velocity saturation may have a large influence on performance. I
Cached k-d tree search for ICP algorithms
No full textThe ICP (Iterative Closest Point) algorithm is the de facto standard for geometric alignment of threedimensional models when an initial relative pose estimate is available. The basis of ICP is the search for closest points. Since the development of ICP, k-d trees have been used to accelerate the search. This paper presents a novel search procedure, namely cached k-d trees, exploiting iterative behavior of the ICP algorithm. It results in a significant speedup of about 50 % as we show in an evaluation using different data sets.
Research in medical education - chances and challenges : international conference, 20th - 22nd May 2009, Heidelberg ; congress abstracts
No full textEntwicklung eines stochastischen Modells zur Ermittlung und Beurteilung der Versagenswahrscheinlichkeit von Brückenbauwerken ohne Ankündigungsverhalten beim Spanngliedausfall infolge Spannungsrisskorrosion
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Probabilistischer Ansatz zur Auswertung der Einflüsse von Spanngliedbrüchen infolge von Spannungsrisskorrosion
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