Sensors and Methods for Robots 1996 Part 15 pptx

... Borenstein, J. and Koren, Y., 1985, "A Mobile Platform For Nursing Robots. " IEEE Transactions on Industrial Electronics, Vol. 32, No. 2, pp. 158 -165. Paper 02 Borenstein, J. and Koren, ... Measurement and Control, Vol. 109, No. 2, pp. 73-79. Paper 10 Borenstein, J. and Koren, Y., 1989, "Real-time Obstacle Avoidance for Fast Mobile Robots. " IEEE Transactio...

Ngày tải lên: 10/08/2014, 02:21

... used in mobile robot positioning, and Part II discusses the methods and techniques that make use of these sensors. Mobile robot navigation is a very diverse area, and a useful comparison of different ... [1994] 203 8.3.2.3 Kortenkamp and Weymouth [1993] 204 8.4 Summary 206 20 Part I Sensors for Mobile Robot Positioning For completeness, we rewrite the well-known equation...

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... given by [Holland, 1983]: Chapter 2: Heading Sensors 33 Figure 2.2: The Futaba FP-G154 miniature mechanical gyroscope for radio-controlled helicopters. The unit costs less than $150 and weighs only ... Futaba FP-G154 [FUTABA] is a low- cost low-accuracy mechanical rate gyro designed for use in radio-controlled model helicopters and model airplanes. The Futaba FP-G154 costs less than...

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... magnetoresistive sensors. The sensors& apos; output signals are amplified and AC-coupled to a 42 Part I Sensors for Mobile Robot Positioning In summary, the open-loop IFOG is attractive from the standpoint ... specifications for the Andrew Autogyro Navigator (Courtesy of [Andrew Corp].) Figure 2.12: The Andrew AUTOGYRO Navigator . (Courtesy of [Andrew Corp].) in [Allen et al.,...

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... Corp.) Parameter E-220B/ 215 E-220B /150 E-220B/40 E-220B/26 Units Range 10 - 61 4 - 24 20 - 152 8 - 60 61 - 610 24 - 240 61 - 914 24 - 360 cm in Beamwidth 10 10 35 (15) 35 (15) Frequency 215 150 40 26 kHz Max ... kHz Max rep rate 150 100 25 20 Hz Resolution 0.076 0.03 0.1 0.04 0.76 0.3 1 0.4 cm in Power 8 - 15 8 - 15 8 - 15 8 - 15 VDC Weight 4 - 8 4 - 8 4 - 8 4 - 8 oz Table 4.1...

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... between a landmark and the robot is at most 14.1 meters 150 Part II Systems and Methods for Mobile Robot Positioning Figure 5.17: Experimental results from Melboy using odometry with and without ... gyro was tested by Komoriya and Oyama [1994]. 154 Part II Systems and Methods for Mobile Robot Positioning Figure 6.3: Simulation results showing the effect of outliers...

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... needs to look for landmarks in a limited area. For this reason good odometry accuracy is a prerequisite for successful landmark detection. The general procedure for performing landmark-based ... the corners. Kabuka and Arenas [1987] used a half-white and half-black circle with a unique bar-code for each landmark. Magee and Aggarwal [1984] used a sphere with horizontal and ve...

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... sensed information into the existing world model. It should also provide the necessary information and procedures for estimating the position and pose of the robot in the environment. Information ... of 194 Part II Systems and Methods for Mobile Robot Positioning Figure 8.9: Siemens' Roamer robot is equipped with 24 ultrasonic sensors. (Courtesy of Siemens). Based on the...

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... photometric vision sensors, i.e., cameras. We will begin with a brief introduction of a vision sensor model and describe the methods that use landmarks, object models and maps, and the methods for map building. 9.1 ... selection and sensor fusion for specific applications and environments. C Accurate and reliable algorithms for matching local maps to the stored map. C...

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... Wheeled Vehicles.” Sandia Report SAND88- 0540, Sandia National Laboratories, Albuquerque, NM, April. 172. Kleeman, L., 1992, “Optimal Estimation of Position and Heading for Mobile Robots Using Ultrasonic ... Laser Gyroscope,” Sensors, March, pp. 8-21. 177. Kortenkamp, D. and Weymouth, T., 1994, “Combining Sonar and Vision Sensing in the Construction and Use of Topological Maps f...

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