Sensors and Methods for Robots 1996 Part 13 docx

... 1993]: D Where am I? Sensors and Methods for Mobile Robot Positioning by J. Borenstein , H. R. Everett , and L. Feng 123 Contributing authors: S. W. Lee and R. H. Byrne Edited and compiled by J. ... Everett for making most of the line-art drawings. Chapter 1: Sensors for Dead Reckoning 27 Figure 1.14: An 8-DOF platform with four wheels individually driven and steered....

Ngày tải lên: 03/03/2014, 23:09

... follows: Where am I? Sensors and Methods for Mobile Robot Positioning by J. Borenstein , H. R. Everett , and L. Feng 123 Contributing authors: S. W. Lee and R. H. Byrne Edited and compiled by J. ... 1.14: An 8-DOF platform with four wheels individually driven and steered. This platform was designed and built by Unique Mobility, Inc. (Courtesy of [UNIQUE].) slippage for...

Ngày tải lên: 27/06/2014, 18:20

... 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 Borenstein, J. and Koren, ... 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 Transactio...

Ngày tải lên: 10/08/2014, 02:21

... Maps 19 6 8.3 .1 Geometric Maps for Navigation 19 7 8.3 .1. 1 Cox [19 91] 19 8 8.3 .1. 2 Crowley [19 89] 19 9 8.3 .1. 3 Adams and von Flüe 202 8.3.2 Topological Maps for Navigation 203 8.3.2 .1 Taylor [19 91] ... Encoders 16 1. 2 Doppler Sensors 17 1. 2 .1 Micro-Trak Trak-Star Ultrasonic Speed Sensor 18 1. 2.2 Other Doppler-Effect Systems 19 1. 3 Typical Mobility Config...

Ngày tải lên: 10/08/2014, 02:21

... 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 uni...

Ngày tải lên: 10/08/2014, 02:21

... Technical specifications for the 3ARG-D are given in Table 2.1. Specifica- tions for the 3ARG-A are similar. A more detailed discussion of the Autogyro is given 44 Part I Sensors for Mobile Robot Positioning Parameter ... magnetoresistive sensors. The sensors& apos; output signals are amplified and AC-coupled to a 42 Part I Sensors for Mobile Robot Positioning In summary...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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 Melbo...

Ngày tải lên: 10/08/2014, 02:21

... segmentation and parameter extraction [Lapin, 199 2; Mesaki and Masuda, 199 2]. There are also systems that use active (i.e., LED) patterns to achieve the same effect [Fleury and Baron, 199 2]. The ... (Courtesy of Anderson [ 199 1].) Figure 6.13: Schematic view of the Joy 16CM with two retroreflective targets and two LaserNav beacons /sensors in the entryway. (Courtesy of Anderson,...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... Based Obstacle Avoidance and Mapping for Fast Mobile Robots. ” Proceedings of IEEE International Conference on Robotics and Automation, San Diego, CA, May 8 -13, pp. 130 6 -131 1. 136 . GPS Report. November ... Wheeled Vehicles.” Sandia Report SAND88- 0540, Sandia National Laboratories, Albuquerque, NM, April. 172. Kleeman, L., 1992, “Optimal Estimation of Position and Heading for...

Ngày tải lên: 10/08/2014, 02:21

... 132, 134-136, 139, 141 , 142 , 149 , 176, 222, 239, 243 Hollingum 130, 245 Fenn 63, 243 Fennema 214, 243, 259 Figueroa 156, 157, 243 Fischler 212, 243 Fisher 244 Fleury 244 Flynn 14, 246 Fournier ... 96 timer 118 toroidal 51, 53, 56 tractable 215 tractor-trailer 144 , 145 trailer 138, 139, 144 , 145 , 222, 238, 243, 248 trajectory 133, 140 , 150, 196, 215, 216 Trak-Star 18, 19 244 t...

Ngày tải lên: 10/08/2014, 02:21

... Robotics and Automation, San Diego, CA, May 8 -13, pp. 130 6 -131 1. 136 . GPS Report. November 5, 1992. Potomac, MD: Phillips Business Information. 137 . Grenoble, B., 1990, “Sensor and Logic Form ... Automation, San Diego, CA, May 8 -13, pp. 485- 492. 387. Parker, K., 1993, “'Bots Struggle to Learn Basics.” Manufacturing Systems, Oct. 12, pp. 13- 14. 388. Partaatmadja, O., Benhab...

Ngày tải lên: 10/08/2014, 02:21