... San Diego, CA 92 15 2 -5 001 1101 Beal Avenue
Ann Arbor, MI 48109 Ph.: (619) 55 3-3 672 Ann Arbor, MI 48109
Ph.: (313) 76 3-1 56 0 Fax: (619) 55 3-6 188 Ph.: (313) 93 6-9 362
Fax: (313) 94 4-1 113 Email: Everett@NOSC.MIL ... designs over the past 50 years,
with the two most common being permalloy (an alloy of iron and nickel) and mumetal (iron, nickel,
Where am I?
Sen...
... Multi-Degree-of-Freedom Vehicles
Multi-degree-of-freedom (MDOF) vehicles have multiple
drive and steer motors. Different designs are possible. For
example, HERMIES-III, a sophisticated platform ... cover
removed) and a small control amplifier.
Designed for weight-sensitive model helicop-
ters, the system weighs only 102 grams
(3.6 oz). Motor and amplifier run off a 5 V
DC supply...
... 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 diameters; see Sec. 5. 1 for ... the C-100: 1) the SE- 25 sensor, recommended for
applications with a tilt range of ±16 degrees and 2) the SE-10 sensor, for applications anticipating
a tilt angle of up to ± 45...
... 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 ... in the
scene.
116 Part I Sensors for Mobile Robot Positioning
Parameter Value Units
Accuracy < 6 in
AGC output 1 -5 V
Output power...
... power
consumption of 20 W. An RS-232 digital output is
available.
X [mm]
-2 50
-2 00
-1 50
-1 00
-5 0
50
100
-5 0 50 100 150 200 250
Y [mm]
cw cluster
ccw
cluster
\book\deadre41.ds 4, .WM F, 07/19/ 95
Center of gravity ... compression circuit from in [Adams and Probert, 19 95] .
(Reproduced with permission from [Adams and Probert, 19 95] .)
138 Part II Systems...
... [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 Part II Systems and Methods for Mobile Robot Positioning
Figure ... are another example.
Chapter 5: Dead-Reckoning 149
Figure 5. 16:
Melboy
, the mobile robot used by
Komoriya and Oyama for fusing odometry and gyr...
... problems and tested under
realistic conditions.
312
323
3 25
327
330
3 35
350
352
354
360
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 ... δθ
θ
camera camera camera
sang03.cdr, .wmf
210 Part II Systems and Methods for Mobile Robot Positioning
Figure 9.3:
a. Possible camera locations (circu...