Sensors and Methods for Robots 1996 Part 5 docx

... Corp.) Parameter E-220B/2 15 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 2 15 150 40 26 kHz Max ... Positioning Parameter Original SN28827 650 0 Units Maximum range 10 .5 35 10 .5 35 10 .5 35 m ft Minimum range* 25 10 .5 20 6 20 6 cm in Number of pulses 56 16 16...

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... /s Instantaneous bandwidth 100 Hz Bias drift (at stabilized temperature) — RMS 0.0 05 18 /s rms /hr rms Size (excluding connector) 1 15 90×41 4 .5 3 .5 1.6 mm in Weight (total) 0. 25 0 .55 kg lb Power ... 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 a...

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... Places A B C D E F G A 0.43 0.09 0.22 0. 05 0. 05 0.1 0.06 B 0. 05 0 .52 0.21 0.06 0. 05 0. 05 0. 05 C 0.10 0.12 0.36 0.2 0.04 0.13 0.04 D 0.14 0. 05 0.24 0.43 0. 05 0.04 0. 05 E 0.14 0.14 0.14 0.14 0.14 0.14 ... 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...

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... Navigation for Wheeled Vehicles.” Sandia Report SAND88- 054 0, Sandia National Laboratories, Albuquerque, NM, April. 172. Kleeman, L., 1992, “Optimal Estimation of Position and Heading for Mobile Robots ... Navigation.” Proceedings SPIE Mobile Robots IX, Volume 2 352 , Boston, MA, Nov.2-4. 107. Everett, H. R., 19 95, Sensors for Mobile Robots: Theory and Application, ISBN 1...

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... Borenstein, J. and Koren, Y., 19 85, "A Mobile Platform For Nursing Robots. " IEEE Transactions on Industrial Electronics, Vol. 32, No. 2, pp. 158 -1 65. Paper 02 Borenstein, J. and Koren, ... Borenstein, J, and Koren, Y., 1991, "Histogramic In-motion Mapping for Mobile Robot Obstacle Avoidance." IEEE Journal of Robotics and Automation, Vol. 7, No. 4, 1991, p...

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... Correction 143 5. 4 Inertial Navigation 1 45 5.4.1 Accelerometers 146 5. 4.2 Gyros 146 5. 4.2.1 Barshan and Durrant-Whyte [1993; 1994; 19 95] 147 5. 4.2.2 Komoriya and Oyama [1994] 148 5. 5 Summary 149 Chapter ... Odometry and Other Dead-Reckoning Methods 130 5. 1 Systematic and Non-Systematic Odometry Errors 130 5. 2 Measurement of Odometry Errors 132 5. 2.1 Measurement of...

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... weighs only 40 grams (1 .5 oz) and compares in size with that of a roll of 35 millimeter film (see Figure 2.3). The sensor can be pow- ered with 5 to 15 VDC and draws only 65 to 85 mA during operation. ... room temperatures of 0. 05 /s to 0. 25 /s, which equates to 3 to 15 /min (see [Borenstein and Feng, 1996] ). Similar drift rates were reported by Barshan and Durrant-Whyt...

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... the performance of different algorithms. The results are summarized as follows: b actual 90 b nominal 90 - 250 -200 - 150 -100 -50 50 100 -50 50 100 150 200 250 Before correction, cw Before correction, ... 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 us...

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... (3.3 ft/s) and became unstable at 1 .5 m/s (5 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 ... 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 performin...

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... (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 [19 95] at Siemens ... (in) Orient. Error [°] A (0,0) 2.3 (7/8) 0.7 B ( 150 , -50 0) 5. 7 (2-1/4) 1.9 C (1000, -50 0) 9.1 (3-1/2) 5. 3 D (1800, -50 0) 55 .8 (22) 5. 9 E (1800,-800) 63.2 ( 25)...

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