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Mobile Robots Current Trends Part 2

Tham khảo tài liệu 'mobile robots current trends part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Autonomous Mobile Robot Emmy III 19 Coordinate h A 18 10 0.438 B 17 11 0.413 C 17 12 0.388 D 16 13 0.363 E 15 14 0.338 F 15 15 0.313 G 14 15 0.288 H 13 16 0.263 I 12 17 0.238 J 11 17 0.213 K 10 18 0.188 L 18 10 0.413 M 19 9 0.388 N 19 8 0.363 O 20 7 0.338 P 20 6 0.313 Q 20 5 0.288 R 20 4 0.263 S 20 3 0.238 T 20 2 0.213 U 20 0 0.188 Table 1. Results of the first test. The analyzed coordinates and their Favorable Evidence Degree are shown in the table 1. 6.2.2 Second test The configuration parameters of this test have been the same as the ones from the first test. The simulated sensing subsystem data have been the ones described in the follow. The distance between the sensor and the obstacle D 400. The angle between the horizontal axis of the environment and the direction to the front of the sensor a 45. The coordinate where the robot is Xa Ya 0 0 . It has been simulated the first measuring of the sensor then u3 was initially 0. It is shown in the figure 20 the graphical representation of the database generated by the sensing subsystem. 20 Mobile Robots - Current Trends Fig. 20. The graphical representation of the database generated by the second test of the sensing subsystem Autonomous Mobile Robot Emmy III 21 The analyzed coordinates and their Favorable Evidence Degree are shown in the table 2. Coordinate L A 29 29 0.375 B 27 30 0.35 C 26 32 0.325 D 24 33 0.3 E 22 34 0.275 F 20 35 0.25 G 19 36 0.225 H 17 37 0.2 I 15 38 0.175 J 13 39 0.15 K 11 39 0.125 L 3O 27 0.35 M 32 26 0.325 N 33 24 0.3 O 34 22 0.275 P 35 20 0.25 Q 36 19 0.225 R 37 17 0.2 S 38 15 0.175 T 39 13 0.15 U 39 11 0.125 Table 2. Results of the second test. 6.2.3 Third test The configuration parameters and the sensing subsystem data have been the same ones of the second test then the analyzed coordinates have been the same as the second test. The third test has been done just after the second therefore their Favorable Evidence Degree have been different from the one in the second test because LI 3 has .