AI SearchAbsolute positioning system for mobile robot integrated with gyroscope by using IKF (Record no. 952)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 04804nas|a2200457 a 4500 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20260817161340.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 140321s2011 th uu|m rtt 0| a1eng d |
| 035 ## - SYSTEM CONTROL NUMBER | |
| System control number | .b12127863 |
| 099 #9 - LOCAL FREE-TEXT CALL NUMBER (OCLC) | |
| Classification number | AIT Diss. no.ISE-12-02 |
| 100 0# - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Surachai Panich |
| 245 10 - TITLE STATEMENT | |
| Title | Absolute positioning system for mobile robot integrated with gyroscope by using IKF |
| 260 ## - PUBLICATION, DISTRIBUTION, ETC. | |
| Place of publication, distribution, etc. | Pathum Thani, Thailand : |
| Name of publisher, distributor, etc. | Asian Institute of Technology, |
| Date of publication, distribution, etc. | 2011 |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 89 p. : |
| Other physical details | ill. (some col.) |
| 490 1# - SERIES STATEMENT | |
| Series statement | Dissertation ; |
| Volume/sequential designation | no. ISE-12-02 |
| 500 ## - GENERAL NOTE | |
| General note | A dissertation submitted in partial fulfillments of the requirements for the Degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology |
| 502 ## - DISSERTATION NOTE | |
| Dissertation note | Thesis (Ph. D.) - Asian Institute of Technology, 2012 |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc. | ln wheel mobile robot differential odometry is a self-sustaining navigation method. By differential odometry over random irregular ground under wheels, it made unlimited error for estimated position. However, more researchers still use differential odometry for mobile robot, for example in navigation application and try to improve its accuracy. ln research field of navigation system, the absolute positioning is interested with two advantage reasons. Firstly the error from absolute positioning is bounded and secondly previous information for position estimate is not necessary. In this dissertation absolute positioning systems arc mainly proposed for mobile robot driven by differential odometry. Before the absolute positioning system will be integrated in navigation system, the mobile robot driven by differential odometry is widely integrated with gyroscope (OdoGyro) to reduce orientation error firstly. The first absolute positioning is compass integrated on mobile robot. The compass can generate directly the output of absolute orientation to compensate absolute orientation error of differential odometry integrated with gyroscope (OdoGyro) system. The second absolute positioning is designed by camera positioning system (CaPS). The CaPS can generate absolute position to reduce position error in reference frame of OdoGyro system for mobile robot. The last absolute positioning system is the trilateration ultrasonic bases system (TUBS). It uses the principle of distance measurement that needs at least two landmarks as Cartesian 's reference position. The absolute positioning system is used to generate absolute pos1t10n and orientation compared with position and orientation, which is estimated from OdoGyro to detenninc absolute position and orientation error of mobile robot. These errors arc sent back to navigation system by using indirect Kalman filter (IKF) to correct odometry system and gyroscope parameter to improve accuracy of position and orientation of mobile robot. The lK..F can estimate error of absolute orientation and position from positioning system (compass, the CaPS and the TUBS) compared with OdoGyro system by using the different measurement information in same physical parameter, such as absolute orientation and position. Ln the experimental part, multi-sensor navigation methods are discussed, compared and illustrated in graphic. The results show that the IKF can give better precisely estimated position and orientation by using absolute positioning system. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | Robots |
| General subdivision | Control systems |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | Global Positioning System |
| 700 1# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Afzulpurkar, Nitin V., |
| Relator term | Chairperson |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Manukid Parnichkun, |
| Relator term | Examination Committee |
| 700 1# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Honda, Kiyoshi, |
| Relator term | Examination Committee |
| 700 1# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Vyas, Nalinaksh S., |
| Relator term | Examination committee |
| 710 2# - ADDED ENTRY--CORPORATE NAME | |
| Corporate name or jurisdiction name as entry element | Academic Affairs of Thailand Government, |
| Relator term | Scholarship donor |
| 710 2# - ADDED ENTRY--CORPORATE NAME | |
| Corporate name or jurisdiction name as entry element | Asian Institute of Technology Fellowship and Self Support, |
| Relator term | Scholarship donor |
| 810 2# - SERIES ADDED ENTRY--CORPORATE NAME | |
| Corporate name or jurisdiction name as entry element | Asian Institute of Technology. |
| Title of a work | Dissertation ; |
| Volume/sequential designation | no. ISE-12-02 |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| Materials specified | Full-Text |
| Uniform Resource Identifier | <a href="http://203.159.5.9/ait-thesis/detail.php?q=B11315">http://203.159.5.9/ait-thesis/detail.php?q=B11315</a> |
| 907 ## - LOCAL DATA ELEMENT G, LDG (RLIN) | |
| a | .b12127863 |
| b | mnait |
| c | z |
| 902 ## - LOCAL DATA ELEMENT B, LDB (RLIN) | |
| a | 240404 |
| 998 ## - LOCAL CONTROL INFORMATION (RLIN) | |
| Operator's initials, OID (RLIN) | 0 |
| Cataloger's initials, CIN (RLIN) | 140321 |
| First date, FD (RLIN) | m |
| -- | a |
| -- | z |
| -- | 0 |
| 962 ## - | |
| -- | 000:001:PDF:b1212786:001226:0:0:0:0:0:0 |
| -- | Abstract--AIT Diss. no.ISE-12-02 |
| -- | n |
| 945 ## - LOCAL PROCESSING INFORMATION (OCLC) | |
| l | mnait |
| 945 ## - LOCAL PROCESSING INFORMATION (OCLC) | |
| l | mnait |
| 945 ## - LOCAL PROCESSING INFORMATION (OCLC) | |
| l | mnarc |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | 20-AIT Publication |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | 40-Archives |
| 909 ## - LOCAL ITEMS USED | |
| Barcode | Barcode : 30050120594485 |
| CREATED | CREATED : 2014-03-21 |
| RECORD Id | RECORD # : i12776919 |
| LPATRON | LPATRON : 1026168 |
| LCHKIN | LCHKIN : 2017-11-23 |
| RENEWALS | # RENEWALS : 0 |
| -- | # OVERDUE : 0 |
| -- | IUSE3 : 0 |
| -- | TOT CHKOUT : 1 |
| -- | TOT RENEW : 0 |
| 909 ## - LOCAL ITEMS USED | |
| Barcode | Barcode : 30050120594519 |
| CREATED | CREATED : 2014-03-21 |
| RECORD Id | RECORD # : i12776920 |
| LPATRON | LPATRON : 1024645 |
| LCHKIN | LCHKIN : 2014-05-19 |
| RENEWALS | # RENEWALS : 0 |
| -- | # OVERDUE : 0 |
| -- | IUSE3 : 0 |
| -- | TOT CHKOUT : 1 |
| -- | TOT RENEW : 0 |
| 909 ## - LOCAL ITEMS USED | |
| Barcode | Barcode : 30050160002175 |
| CREATED | CREATED : 2016-02-17 |
| RECORD Id | RECORD # : i12884030 |
| LPATRON | LPATRON : 0 |
| LCHKIN | LCHKIN : - |
| RENEWALS | # RENEWALS : 0 |
| -- | # OVERDUE : 0 |
| -- | IUSE3 : 0 |
| -- | TOT CHKOUT : 0 |
| -- | TOT RENEW : 0 |
| Withdrawn status | Lost status | Damaged status | Not for loan | Home library | Current library | Shelving location | Date acquired | Cost, normal purchase price | Total checkouts | Full call number | Barcode | Date last seen | Copy number | Price effective from | Koha item type |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Available for Loans | Asian Institute of Technology Library | Asian Institute of Technology Library | AIT Publications | 17/08/2026 | 50.00 | AIT Diss. no.ISE-12-02 | 30050120594485 | 17/08/2026 | 1 | 17/08/2026 | 20-AIT Publication | ||||
| Available for Loans | Asian Institute of Technology Library | Asian Institute of Technology Library | AIT Publications | 17/08/2026 | 50.00 | AIT Diss. no.ISE-12-02 | 30050120594519 | 17/08/2026 | 2 | 17/08/2026 | 20-AIT Publication | ||||
| Available for Loans | Asian Institute of Technology Library | Asian Institute of Technology Library | Archives | 17/08/2026 | AIT Diss. no.ISE-12-02 | 30050160002175 | 17/08/2026 | 1 | 17/08/2026 | 40-Archives |