Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 6 pot

... 55 3-3 67 2 Ann Arbor, MI 48109 Ph.: (313) 76 3-1 560 Fax: (61 9) 55 3 -6 188 Ph.: (313) 93 6- 9 362 Fax: (313) 94 4-1 113 Email: Everett@NOSC.MIL Fax: (313) 76 3-1 260 Email: johannb@umich.edu Email: Feng@engin.umich.edu 2) ... iron and nickel) and mumetal (iron, nickel, Where am I? Sensors and Methods for Mobile Robot Positioning by J. Borenstein , H. R....

Ngày tải lên: 13/02/2014, 09:20

... 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, HERMIES-III, a sophisticated ... n 2 co &n 2 cl 2 1 Numerical aperture Waveguide axis 40 Part I Sensors for Mobile Robot Positioning Figure 2.8: Step-index multi-mode fiber. (Adapted from [Nolan et a...

Ngày tải lên: 10/08/2014, 02:21

... re- flecting back as a load into the drive circuitry, introduc- ing some error for minor 46 Part I Sensors for Mobile Robot Positioning Before we introduce different types of compasses, a word of ... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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 - 61 0 24 - 240 61 - 914 24 - 360 cm in Beamwidth 10 10 35 (15) 35 (15) Frequency 215 150 40 26 ... GPS Engine 1.7×l0 -6 0.19 Rockwell NavCore V 5.73×l0 -1 0 6. 36 l0 -5 Magnavox 64 00 10 5.73×l0 -8 -7 6. 36 l0 -2 Trimble Pl...

Ngày tải lên: 10/08/2014, 02:21

... 4. 26) projects a collimated beam of near-infrared or visible laser light, amplitude modulated with a non-sinu- soidal waveform at a 50-percent duty cycle. A 63 . 6- millimeter (2.5 in) collec- tion ... line diode Laser Start Stop Peak detector Range gate Detector Trigger circuit Threshold detector Ref 1 06 Part I Sensors for Mobile Robot Positioning Figure 4.14: Simplified block...

Ngày tải lên: 10/08/2014, 02:21

... compression circuit from in [Adams and Probert, 1995]. (Reproduced with permission from [Adams and Probert, 1995].) 138 Part II Systems and Methods for Mobile Robot Positioning odometry with the ... .wmf, 06/ 15/95 ccw cw x y Robot cw ccw Robot Nominal square path Nominal square path Nominal square path a. b. 140 Part II Systems and Methods for Mobile Robot...

Ngày tải lên: 10/08/2014, 02:21

... 2 1 − − −                       =                     − − −                               1 56 Part II Systems and Methods for Mobile Robot Positioning Figure 6. 5: A combination of threshold adjusting and phase detection is employed to provide higher accuracy in time-of-arrival ... zero, and the gyros...

Ngày tải lên: 10/08/2014, 02:21

... ] 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 Rencken: Path Planning for Feature-based Navigation Bauer and Rencken ... position was said to be 15 centimeters (6 in). 182 Part II Systems and Methods for Mobile Robot Positioning Figure 7.10: The odor-laying/odor-sensing...

Ngày tải lên: 10/08/2014, 02:21

... 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 (circular arc) determined by two rays and corresponding ... scarce. 2 06 Part II Systems and Methods for Mobile Robot Positioning 8.4 Summary Map-based positioning is still in the research stage. Currently, this tech...

Ngày tải lên: 10/08/2014, 02:21