Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 7 doc

... iron and nickel) and mumetal (iron, nickel, 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 ... Localization 2 07 9.2 Landmark-Based Positioning 209 9.2.1 Two-Dimensional Positioning Using a Single Camera 209 9.2.2 Two-Dimensional Positioning Using Stereo Cameras...

Ngày tải lên: 13/02/2014, 09:20

... 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 ... inertial navigation systems for the Boeing 75 7 and 76 7 in the early 1980s, and over half a million fiber-optic navigation systems have been installed in Japanese automobiles since 19...

Ngày tải lên: 10/08/2014, 02:21

... mild Amplifier Amplifier processor Display Driver Fluxgate sensor digital Driver convertor Oscillator Driver Analog to Micro- 54 Part I Sensors for Mobile Robot Positioning Figure 2.22: Block diagram of ZEMCO model DE -7 1 0 fluxgate compass (courtesy ZEMCO, Inc.). changes ... the same for both the Andrew 3ARG-A and the Hitachi OFG-3 gyros: 0.05 /s. If either gyro was installed...

Ngày tải lên: 10/08/2014, 02:21

... (Courtesy of Massa 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 - 360 cm in Beamwidth 10 10 35 (15) 35 (15) Frequency ... 10 -7 0.011 Magnavox GPS Engine 1 .7 l0 -6 0.19 Rockwell NavCore V 5 .73 ×l0 -1 0 6.36×l0 -5 Magnavox 6400 10 5 .73 ×l0 -8 -7...

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 ... line diode Laser Start Stop Peak detector Range gate Detector Trigger circuit Threshold detector Ref 106 Part I Sensors for Mobile Robot P...

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 ... diameters). In the example here, this causes a 3 o orientation error. Reference Wall \designer\book\deadre30.ds4, deadre32.w mf, 07/ 19/95 134 Part II Systems and Methods...

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

... ] 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 ... [°] A (0,0) 2.3 (7/ 8) 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 (2...

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 ... positioning means finding position and orientation of a sensor or a robot. Since the general framework of landmark-based and map-based positioning, as well as the met...

Ngày tải lên: 10/08/2014, 02:21