Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 3 pps

... 48109 Ph.: (31 3) 76 3- 1 560 Fax: (619) 55 3- 6 188 Ph.: (31 3) 93 6-9 36 2 Fax: (31 3) 94 4-1 1 13 Email: Everett@NOSC.MIL Fax: (31 3) 76 3- 1 260 Email: johannb@umich.edu Email: Feng@engin.umich.edu 2) 3) Please ... iron and nickel) and mumetal (iron, nickel, Where am I? Sensors and Methods for Mobile Robot Positioning by J. Borenstein , H. R. Everett , an...

Ngày tải lên: 13/02/2014, 09:20

... (2 .3. 2). Open-loop fiber-optic interferometers (analog) (2 .3. 3). Closed-loop fiber-optic interferometers (digital) (2 .3. 4). Fiber-optic resonators (2 .3. 5). Aronowitz [1971], Menegozzi and Lamb ... pivot axis. R 1 .3. 6 Multi-Degree-of-Freedom Vehicles Multi-degree-of-freedom (MDOF) vehicles have multiple drive and steer motors. Different designs are possible. For example, HERMIE...

Ngày tải lên: 10/08/2014, 02:21

... analog output, while model 3ARG-D ($1,100) has an RS- 232 output for connection to a com- puter. Technical specifications for the 3ARG-D are given in Table 2.1. Specifica- tions for the 3ARG-A are similar. ... the same for both the Andrew 3ARG-A and the Hitachi OFG -3 gyros: 0.05 /s. If either gyro was installed on a robot with a systematic error (e.g., due to unequal wheel diame...

Ngày tải lên: 10/08/2014, 02:21

... longitude 4 3. 3 .3 Test Results Sections 3. 3 .3. 1 and 3. 3 .3. 2 discuss the test results for the static and dynamic tests, respectively, and a summary of these results is given in Section 3. 3 .3. 3. The ... Products Corp.) Parameter E-220B/215 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...

Ngày tải lên: 10/08/2014, 02:21

... 2 ¾ 5 2 cm in (velocity) 0 .3 0.5 m/s Beam divergence 2 2.8 mrad Output (digital) RS- 232 , -4 22 RS- 232 , -4 22 (analog) 0-1 0 0-1 0 VDC Power 1 1-1 8 1 1-1 8 VDC 10 10 W Size 22× 13 7.6 8.7×5.1 3 22× 13 7.6 8.7×5.1 3 cm in Weight ... Sensors for Mobile Robot Positioning Parameter Value Units Range (non-cooperative target) 1 to 100 3. 3- 3 28 m ft Accuracy 30 ±12...

Ngày tải lên: 10/08/2014, 02:21

... LabMate robot from TRC has a relatively small wheelbase of 34 0 millimeters ( 13. 4 in). As a result, Gourley and Trivedi [1994], suggest that 132 Part II Systems and Methods for Mobile Robot Positioning 5.2 ... Wall \designer\book\deadre30.ds4, deadre32.w mf, 07/19/95 134 Part II Systems and Methods for Mobile Robot Positioning Figure 5 .3: The effect of...

Ngày tải lên: 10/08/2014, 02:21

... zero, and the gyros should ideally show ). Barshan and Durrant-Whyte determined that the standard deviation, here used as a measure for the 152 Part II Systems and Methods for Mobile Robot Positioning Triangulation In ... [NAMCO, 1989] = Vt - 45 (6.2) b where = target angle V = scan velocity (7,200 /s) T = time between scan initiation and target b detection. 150...

Ngày tải lên: 10/08/2014, 02:21

... 0.7 B (150, -5 00) 5.7 ( 2-1 /4) 1.9 C (1000, -5 00) 9.1 ( 3- 1 /2) 5 .3 D (1800 ,-5 00) 55.8 (22) 5.9 E (1800 ,-8 00) 63. 2 (25) 6.8 Table 8.2: Hand-measured position error of the robot at intermediate way-points ... ] o 5:28 5.8 ( 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 Renck...

Ngày tải lên: 10/08/2014, 02:21

... problems and tested under realistic conditions. 31 2 32 3 32 5 32 7 33 0 33 5 35 0 35 2 35 4 36 0 Hallway Hallway \book\courtney.ds4, .wmf, 11/ 13/ 94 A B C D E F G 204 Part II Systems and Methods for Mobile Robot ... 2 2 -4 foot (ft ) meter (m ) 9.29 03 × 10 2 2 2 2 -2 yard (yd ) meter (m ) 0. 836 13 2 2 2 2 (Volume) foot (ft ) meter (m ) 2. 831 7 × 10 3 3...

Ngày tải lên: 10/08/2014, 02:21