Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 11 pps

... 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 211 9.3 Camera-Calibration Approaches 211 9.4 ... 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 Cont...

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 m...

Ngày tải lên: 10/08/2014, 02:21

... 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 ... suitable for mobile robot applications. In this section we introduce two such systems. 2.3.6.1 The Andrew “Autogyro" Andrew Corp. [ANDREW] offers the low-cost Autogyro, shown in...

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 ... 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...

Ngày tải lên: 10/08/2014, 02:21

... (distance) 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 c...

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 ... 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 Positio...

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 ... 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 met...

Ngày tải lên: 10/08/2014, 02:21