Sensors and Methods for Robots 1996 Part 11 docx

... 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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... 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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... Trimble Placer. Figure 3 .11: Static position error plots for all five GPS receivers. (Courtesy of Byrne [1993]). 88 Part I Sensors for Mobile Robot Positioning be said for the Trimble Placer unit. ... limits. The performance of the Rockwell NavCore V, Trimble Placer, and Magnavox GPS Engine are comparable. Chapter 3: Active Beacons 93 format. Although Binary data formats and th...

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... A., Sun, A., and Goldenberg, A., 1992, “An Electrooptical Orientation Sensor for Robotics.” IEEE Transactions on Robotics and Automation, Vol. 8, No. 1, pp. 111 -119 . 389. Pears, N. and Probert, ... London, England, Oct, pp. 87-92. 225. Pin, F.G. and Killough, M., 1994, “A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots. ” IEEE Transactions on...

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... 5, Sept./Oct., pp. 117 9 -118 7. Paper 16 Borenstein, J. and Koren, Y., 1991, "The Vector Field Histogram Fast Obsta- cle-Avoidance for Mobile Robots. " IEEE Journal of Robotics and Automation, ... 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 Tr...

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... 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 ... TRC LabMate and HelpMate. The HCTL 110 0 costs only $40 and it comes highly recommended. 8 6.4 Summary 172 Chapter 7 Landmark Navigation 173 7.1 Natural Landmarks 174 7.2 Art...

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... 1.10 and Figure 1 .11. When a foot pivots during a turn, the attached wheel rotates in the appropriate direction to minimize floor and tire wear, power consumption, and slippage. Note that for ... 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 dri...

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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 ... of n landmarks and corresponding angle measurements, estimate the position of the robot in the global coordinate system. Betke and Gurvits represent the n landmarks as complex nu...

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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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