State Estimation

obtain reliable estimates of

position and velocity

33
 Sensing
motion capture
cameras

reflective markers

34
Photograph by Joe McNally

35
Unreliable GPS

36
Operate indoors and outdoors
No GPS

Small, maneuverable

Agile, fast

37
How to navigate without GPS or
external motion capture cameras?

38
 1. Introduction
1.1 Operation principles 905nm
UTM-30LX/LN use laser source ( = 870nm) to scan 270 semicircular field (Figure 1). It measures
distance to objects in the range and co-ordinates of those point calculated using the step angle. Sensors
measurement data along with the angle are transmitted via communication channel. Laser safety class 1.

Hokuyo UTM-30LX
Sensor is divided into two types depending upon the type of output.

1.2 Type
1.2.1 U TM-30LX Scanning Laser
(Figure 3). Rangefinder
Synchronous output signal is available. The timing chart of this signal is shown in section 6
This synchronous signal can be obtain at each scan. These are mainly intended for
robotic applications.

1.2.2 UTM-30LN
It outputs warning signal whenever there is any object in the preset area. These are mainly
intended for area protection.

2. Structure (Laser range figure)

Detection Angle: 270

Angular Resolution: 0.25
Measurement Step: 1080

Sensor Max. Distance: 30m

Figure 1

3. Important note
mvBlueFox USB
This sensor is not a safety device/tool
camera Kinect sensor for
This sensor is not for use in military applications
Read specifications carefully before use.
XBOX 360
39

Title UTM-30LX/LN Specification Drawing C-42-3615 2/6

Simultaneous Pillars
(x2 , y2 ) (x3 , y3 )
(x1 , y1 )
Localization
And d1
d2 d3

Mapping d01
d02
d03
Robot

x New robot
position

Concurrently estimate
Locations of pillars (6)
Displacement of the robot (2)
40
41
1750 g (laser, 3 cameras, GPS, IMU) 650 g (camera, IMU)

740 g (2 cameras, IMU) 1800 g (laser, Kinect, IMU)

42
 Experimental Platform

GPS
carbon fiber
motor control frame
board

ARM Cortex
A-8 processor

accelerometers, camera
magnetometers,
gyros

KMel Robotics
www.kmelrobotics.com 43
Beacons that are easy to recognize

http://april.eecs.umich.edu/wiki/images/9/94/Tagsampler.png

44
45
46