Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 10 pot

... 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 ... code Part I Sensors for Mobile Robot Positioning axis n co n cl Waveguide NA ' sin2 c ' n 2 co &n 2 cl 2 1 Numerical aperture Waveguide axis 40 Part...

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 ... a potential low-cost alternative to the high-tolerance machining and clean-room assembly required for ring-laser gyros. The glass fiber in essence forms an internally reflective waveguide...

Ngày tải lên: 10/08/2014, 02:21

... 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. A ... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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 ... resolution (meters) Magellan 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...

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 ... pulse 7654321 (delayed) 110 Part I Sensors for Mobile Robot Positioning Figure 4.18: Simplified block diagram of a three-camera configura...

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 ... or 24 VDC with a nominal 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...

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

... and Methods for Mobile Robot Positioning Point Absolute x,y- coordinates [cm] Pos. Error [cm] (in) Orient. Error [°] A (0,0) 2.3 (7/8) 0.7 B (150, -5 00) 5.7 ( 2-1 /4) 1.9 C (100 0, -5 00) 9.1 ( 3-1 /2) ... 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 mobile...

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 m...

Ngày tải lên: 10/08/2014, 02:21