Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 8 pptx

... 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 207 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 2...

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 ... large axis n co n cl Waveguide NA ' sin2 c ' 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...

Ngày tải lên: 10/08/2014, 02:21

... diagram is presented in Figure 2.23. 48 Part I Sensors for Mobile Robot Positioning Figure 2.14: The slope of the B-H curve, shown here for cast iron and sheet steel, describes the permeability ... 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 diameter...

Ngày tải lên: 10/08/2014, 02:21

... 0.076 0.03 0.1 0.04 0.76 0.3 1 0.4 cm in Power 8 - 15 8 - 15 8 - 15 8 - 15 VDC Weight 4 - 8 4 - 8 4 - 8 4 - 8 oz Table 4.1: Specifications for the monostatic E-220B Ultrasonic Ranging Module Subsystems. The E-201 series is ... (Courtesy of Massa Products Corp.) Parameter E-220B/215 E-220B/150 E-220B/40 E-220B/26 Units Range 10 - 61 4 -...

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 ... mrad Sample rate 1000 2000 Hz Scan range 18 10 Scan rate 10 10 scans/s Output (digital) RS-232, -4 22 parallel, RS-422 Power 1 1-1 5 9...

Ngày tải lên: 10/08/2014, 02:21

... compression circuit from in [Adams and Probert, 1995]. (Reproduced with permission from [Adams and Probert, 1995].) 1 38 Part II Systems and Methods for Mobile Robot Positioning odometry with the ... intuitive and widely used (e.g., [Borenstein and Koren, 1 987 ; Cybermotion, 1 988 ; Komoriya and Oyama, 1994; Russell, 1995], but it is a fundamentally unsuitable benchm...

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, 1 989 ] = Vt - 45 (6.2) b where = target angle V = scan velocity (7,200 /s) T = time between scan initiation and target b detection. 15...

Ngày tải lên: 10/08/2014, 02:21

... [°] 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 ( 180 0 ,-5 00) 55 .8 (22) 5.9 E ( 180 0 , -8 00) 63.2 (25) 6 .8 Table 8. 2: Hand-measured position error of the robot at intermediate ... ] 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...

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 ... wave. Figure 8. 18b shows the same mobile robot run as Figure 8. 18a, but here the robot computes its position from two sensed “beacons,” namely the wall at D and...

Ngày tải lên: 10/08/2014, 02:21