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Wheeled Mobile Robotics by Igor Skrjanc, Saso Blazic, Andrej Zdesar, Gregor Klancar

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Chapter 5

Sensors Used in Mobile Systems

Abstract

Sensors are one of the key elements in mobile robotics. Together with other essential elements, they enable mobile robots to autonomously perform their actions, such as trajectory tracking, to locate and track targets, act safely by preventing collisions, and to localize and map the environment. Although they play a vital role they are also a limiting factor in mobile robotics because perfect, robust, and available sensors that would directly measure robot location are usually not available. Therefore, this chapter starts by introducing the different transformations that are later needed to relate local sensor-measured information to the information in robot coordinates. Then the main methods ...

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