Sensors and Methods for Robots 1996 Part 11 docx
Sensors and Methods for Robots 1996 Part 11 docx
... photometric vision sensors, i.e., cameras. We will begin with a brief introductionof 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 Good error models of sensors and robot ... calibrated for itsintrinsic parameters. If there are more than three pairs of rays and landmarks, only the first three pairsare used for localization, while the remaining pairs of rays and landmarks...
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Sensors and Methods for Robots 1996 Part 3 docx
... magnetoresistive sensors. The sensors& apos; output signals are amplified and AC-coupled to a42 Part I Sensors for Mobile Robot PositioningIn summary, the open-loop IFOG is attractive from the standpoint ... specifications for the AndrewAutogyro Navigator (Courtesy of [Andrew Corp].)Figure 2.12: The Andrew AUTOGYRO Navigator.(Courtesy of [Andrew Corp].)in [Allen et al., 1994; Bennett and Emge,1994].In ... suitable for mobile robot applications. In this section we introduce two such systems.2.3.6.1 The Andrew “Autogyro"Andrew Corp. [ANDREW] offers the low-cost Autogyro, shown in Figure 2 .11, for...
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Sensors and Methods for Robots 1996 Part 5 docx
... Trimble Placer.Figure 3 .11: Static position error plots for all fiveGPS receivers. (Courtesy of Byrne [1993]).88 Part I Sensors for Mobile Robot Positioningbe 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 93format. Although Binary data formats and the Rockwell format might ... determine a single range value. Borenstein and Koren[1995] proposed a method that allows individual sensors to detect and reject crosstalk.100 Part I Sensors for Mobile Robot PositioningParameter...
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Sensors and Methods for Robots 1996 Part 13 docx
... A., Sun, A., and Goldenberg, A., 1992, “An ElectroopticalOrientation 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 WheeledPlatforms for Mobile Robots. ” IEEE Transactions on Robotics and Automation, ... 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 UsingUltrasonic...
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Sensors and Methods for Robots 1996 Part 15 pptx
... 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 Transactions on Systems, Man, and ... Borenstein, J. and Koren, Y., 1985, "A Mobile Platform For Nursing Robots. " IEEETransactions on Industrial Electronics, Vol. 32, No. 2, pp. 158-165.Paper 02 Borenstein, J. and Koren,...
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Sensors and Methods for Robots 1996 Part 1 pptx
... 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.86.4 Summary 172Chapter 7 Landmark Navigation 1737.1 Natural Landmarks 1747.2 Artificial Landmarks 1757.2.1 ... [1994] 2038.3.2.3 Kortenkamp and Weymouth [1993] 2048.4 Summary 20620 Part I Sensors for Mobile Robot Positioning For completeness, we rewrite the well-known equations for odometry below (also,...
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Sensors and Methods for Robots 1996 Part 2 pdf
... 1.10 and Figure1 .11. When a foot pivots during a turn, the attached wheel rotates in the appropriate direction tominimize 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 mustChapter 1: Sensors for Dead Reckoning 27Figure 1.14: An 8-DOF platform with four wheels individually driven and ... closed-loop path. The constructive and destructive interference patternsformed by splitting off and mixing parts of the two beams can be used to determine the rate and direction of rotation of the...
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Sensors and Methods for Robots 1996 Part 8 pps
... between alandmark and the robot is at most 14.1 meters150 Part II Systems and Methods for Mobile Robot PositioningFigure 5.17: Experimental results from Melboy using odometry with and without ... of nlandmarks and corresponding angle measurements, estimate the position of the robot in the globalcoordinate system. Betke and Gurvits represent the n landmarks as complex numbers and formulatethe ... Furthermore, inertial navigation sensors typicallyhave noise and error sources that are independent from the external sensors [Parish and Grabbe,1993]. For example, the noise and error from an inertial...
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Sensors and Methods for Robots 1996 Part 9 pdf
... needs to look for landmarksin a limited area. For this reason good odometry accuracy is a prerequisite for successful landmarkdetection.The general procedure for performing landmark-based ... thecorners. 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 verticalcalibration ... (3.3 ft/s) and became unstable at 1.5 m/s (5 ft/s). X2W(L1L1L212)180 Part II Systems and Methods for Mobile Robot PositioningFigure 7.9: The geometry of the Z-shapedlandmark lends...
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Sensors and Methods for Robots 1996 Part 10 ppt
... sensed information into the existing world model.It should also provide the necessary information and procedures for estimating theposition and pose of the robot in the environment. Information ... of194 Part II Systems and Methods for Mobile Robot PositioningFigure 8.9: Siemens' Roamer robot is equippedwith 24 ultrasonic sensors. (Courtesy of Siemens). Based on the above methods, ... accuracy of the robot was mea-190 Part II Systems and Methods for Mobile Robot PositioningFigure 8.3: Mobot IV (left) and Mobot V (right) were both developed and builtat the University of...
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