Sensors and Methods for Robots 1996 Part 8 pps

... of observation and the beacon arrangements [McGillem and Rappaport, 1 988 ]. 6.1.1 Three-Point Triangulation Cohen and Koss [1992] performed a detailed analysis on three-point triangulation algorithms and ran ... 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...

Ngày tải lên: 10/08/2014, 02:21

... 256 KVH 56, 256 MAGELLAN . 78, 80 , 83 -85 , 87 -88 , 91-92, 224, 256 MAGNAVOX 76, 78- 81, 83 -88 , 90-92, 224, 256 MASSA 109-111 MICRO-TRAK 18, 256 MOTOROLA 57, 58, 68, 110, 126, 231, 257 NAMCO 160, ... 257 REMOTEC 28, 29, 139, 257 RIEGL 107-109, 257 SEO 101-104, 257, 2 58 SFS 78, 80 , 81 , 83 -85 , 87 , 88 , 90-93, 224, 257 TOWER 2 58 TRC 16, 28, 1 18, 119, 134, 136, 137, 157, 16...

Ngày tải lên: 10/08/2014, 02:21

... J. and Koren, Y., 1 985 , "A Mobile Platform For Nursing Robots. " IEEE Transactions on Industrial Electronics, Vol. 32, No. 2, pp. 1 58- 165. Paper 02 Borenstein, J. and Koren, Y., 1 987 , ... June 1991, pp. 2 78- 288 . Paper 18 Borenstein, J, and Koren, Y., 1991, "Histogramic In-motion Mapping for Mobile Robot Obstacle Avoidance." IEEE Journal of Robotics an...

Ngày tải lên: 10/08/2014, 02:21

... & McDermott [1992] 186 8. 2 Map Matching 187 8. 2.1 Schiele and Crowley [1994] 188 8. 2.2 Hinkel and Knieriemen [1 988 ] — The Angle Histogram 189 8. 2.3 Weiß, Wetzler, and Puttkamer — More on ... [1991] 1 98 8.3.1.2 Crowley [1 989 ] 199 8. 3.1.3 Adams and von Flüe 202 8. 3.2 Topological Maps for Navigation 203 8. 3.2.1 Taylor [1991] 203 8. 3.2.2 Courtney and Jain [19...

Ngày tải lên: 10/08/2014, 02:21

... use. For lazing to occur in the resonant cavity, the round-trip beam path must Chapter 1: Sensors for Dead Reckoning 27 Figure 1.14: An 8- DOF platform with four wheels individually driven and ... 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 1 .8: In an Ackerman-steered vehicle, the extended axes for all...

Ngày tải lên: 10/08/2014, 02:21

... 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 ... (or 18 to 28 VDC). The combined sensor and electronics boards measure 4.6×11 centimeters (1 .8 4.5 in). RS-232 (300 to 9600 baud) and NMEA 0 183 digital outputs are prov...

Ngày tải lên: 10/08/2014, 02:21

... literature [Koenigsburg, 1 982 ; Moravec and Elfes, 1 985 ; Everett, 1 985 ; Kim, 1 986 ; Moravec, 1 988 ; Elfes, 1 989 ; Arkin, 1 989 ; Borenstein and Koren, 1990; 1991a; 1991b; 1995; Borenstein et al., 1995], and is representa- tive ... 0.3 1.6 10.4 0.0 7.4 1.3 0.5 1 .8 3.9 92.7 98. 5 97 .8 87 .8 96.1 Magellan Magnavox Engine Rockwell Nav V Magnavox 6400 Trimble Placer 0.0 10.0 20...

Ngày tải lên: 10/08/2014, 02:21

... 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 ... (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...

Ngày tải lên: 10/08/2014, 02:21

... y) q G(x,y) 186 Part II Systems and Methods for Mobile Robot Positioning (8. 1) (8. 2) time. Such a motion strategy is called exploration strategy, and it depends strongly on the kind of sensors used. ... be built form the same data points. (Adapted from [Hinkel and Knieriemen, 1 988 ].) representation shown in Figure 8. 6b. After this transformation, two additional histogra...

Ngày tải lên: 10/08/2014, 02:21

... (gr) 28. 349 slug (lbf · s /ft) kilogram (kg) 14.594 2 ton (2000 lbm) kilogram (kg) 907. 18 (Force) pound force (lbf) newton (N) 4.4 482 ounce force newton (N) 0.2 780 (Energy, Work) foot-pound force ... 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...

Ngày tải lên: 10/08/2014, 02:21