Sensors and Methods for Robots 1996 Part 2 pdf

... horizontal earth rate component. cot2 i &cot2 o ' d l cot2 SA ' d 2l % cot2 i cot2 SA ' cot2 o & d 2l . Y X d l o SA i P 2 P 1 22 Part I Sensors for Mobile Robot Positioning (1.8) (1.9) (1.10) Figure ... [Holland, 1983]: Chapter 2: Heading Sensors 33 Figure 2. 2: The Futaba FP-G154 miniature mechanical gyroscope for radio-controlled helicopters. The unit...

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... ft/s). X 2 W ( L 1 L 1 L 2 1 2 ) 180 Part II Systems and Methods for Mobile Robot Positioning Figure 7.9: The geometry of the Z-shaped landmark lends itself to easy and unambiguous computation ... ROBOSENSE system is less than 20 W at 24 VDC. The price for a single unit is $ 12, 800 and $7,630 each for an order of three units. 1 (X ,Y ) 11 T a β T Y a 2 T 3 r α 2...

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... J. and Raschke, U., 19 92, "Real-time Obstacle Avoidance for Non-Point Mobile Robots. " SME Transactions on Robotics Research. Vol. 2, pp. 2. 1 -2. 10, 19 92. Paper 32 Borenstein, J. and ... 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 Borens...

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... Maps for Navigation 197 8.3.1.1 Cox [1991] 198 8.3.1 .2 Crowley [1989] 199 8.3.1.3 Adams and von Flüe 20 2 8.3 .2 Topological Maps for Navigation 20 3 8.3 .2. 1 Taylor [1991] 20 3 8.3 .2. 2 Courtney and ... 42 2.3.5 Resonant Fiber Optic Gyros 42 2.3.6 Commercially Available Optical Gyroscopes 43 2. 3.6.1 The Andrew “Autogyro" 43 2. 3.6 .2 Hitachi Cable Ltd. OFG-3 44 2....

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... (total) 0 .25 0.55 kg lb Power Analog Power Digital < 2 < 3 W W Table 2. 1: Selected specifications for the Andrew Autogyro Navigator (Courtesy of [Andrew Corp].) Figure 2. 12: The Andrew AUTOGYRO ... ) (2. 12a) xx x V = K cos sin( t + a ) (2. 12b) yy y where = the resolver shaft angle =2f, where f is the excitation frequency. K and K are ideally equal transfer-function cons...

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... Corp.) Parameter E -22 0B /21 5 E -22 0B/150 E -22 0B/40 E -22 0B /26 Units Range 10 - 61 4 - 24 20 - 1 52 8 - 60 61 - 610 24 - 24 0 61 - 914 24 - 360 cm in Beamwidth 10 10 35 (15) 35 (15) Frequency 21 5 150 40 26 kHz Max ... on INIT. 94 Part I Sensors for Mobile Robot Positioning This Page intentionally left blank. Data acquisition computer AC power supply DC-AC inverter RS -23...

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... z r x y z r x y z p c c u c v c w c d d n d n n n n 1 2 2 2 2 1 2 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 1 2 2 2 1 2 2 2 1 2 2 2 1 − − −                       =                     − − −                               156 ... 10×10 meter ( 32 32 ft) area (see Fig. 6 .2) . The robot is at the corner of...

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... ] o 5 :28 5.8 (2- 1/4) -7.5 11:57 5.3 (2) -6 .2 14:53 5.8 (2- 1/4) 0.1 18:06 4.0 (1-1 /2) -2. 7 20 : 12 2.5 (1) 3.0 8 .2. 5 Bauer and Rencken: Path Planning for Feature-based Navigation Bauer and Rencken ... [°] A (0,0) 2. 3 (7/8) 0.7 B (150, -500) 5.7 (2- 1/4) 1.9 C (1000, -500) 9.1 (3-1 /2) 5.3 D (1800,-500) 55.8 (22 ) 5.9 E (1800,-800) 63 .2 (25 ) 6.8 Table 8 .2: Hand-measured p...

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... meter (m) 1,8 52 yard (yd) meter (m) 0.9144 (Area) inch (in ) meter (m ) 6.4516 × 10 2 2 2 2 -4 foot (ft ) meter (m ) 9 .29 03 × 10 2 2 2 2 -2 yard (yd ) meter (m ) 0.83613 2 2 2 2 (Volume) foot ... (ft/s ) meter/second (m/s ) 0.3048 2 2 2 2 inch/second (in./s ) meter/second (m/s ) 2. 54 × 10 2 2 2 -2 (Power) foot-pound/minute (ft · lbf/min) watt (W) 2. 2597 × 10 -2...

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... on Robotics and Automation, Sacramento, California, April 7- 12, pp. 23 22- 2 327 . References 25 5 29 2. Wong, A. and Gan, S., “Vision Directed Path Planning, Navigation, and Control for An Autonomous ... Navigational Sensors for Autonomous Path Tracking.” Proceedings, SPIE Vol. 20 58, Mobile Robots VIII, pp. 24 0 -24 9. 21 6. Murray, C., 1991, “AGVs Go Wireless.” Design...

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