Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 14 pps
Tài liệu Where am I? Sensors and Methods for Mobile Robot Positioning ppt
... iron and nickel) and mumetal (iron, nickel, Where am I? Sensors and Methods for Mobile Robot Positioning byJ. Borenstein , H. R. Everett , and L. Feng123Contributing authors: S. W. Lee and ... code Part I Sensors for Mobile Robot Positioning axisnconclWaveguideNA ' sin2c' n2co&n2cl21Numerical apertureWaveguideaxis40 Part I Sensors for Mobile Robot Positioning Figure ... Localization 2079.2 Landmark-Based Positioning 2099.2.1 Two-Dimensional Positioning Using a Single Camera 2099.2.2 Two-Dimensional Positioning Using Stereo Cameras 2119.3 Camera-Calibration Approaches...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 2 ppsx
... Multi-Degree-of-Freedom VehiclesMulti-degree-of-freedom (MDOF) vehicles have multipledrive and steer motors. Different designs are possible. For example, HERMIES-III, a sophisticated platform ... cavity, the round-trip beam path mustChapter 1: Sensors for Dead Reckoning 27Figure 1 .14: An 8-DOF platform with four wheels individually driven and steered.This platform was designed and built by ... steering and is rou-tinely implemented in track formon bulldozers and armored vehi-cles. Such skid-steer configurationsintentionally rely on track or wheelslippage for normal operation (Fig-ure...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 3 pps
... 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 theAndrew 3ARG-A and the Hitachi OFG-3 gyros: 0.05 /s. If either gyro was installed on a robot witha systematic error (e.g., due to unequal wheel diameters; see Sec. 5.1 for ... while model 3ARG-D ($1,100) hasan RS-232 output for connection to a com-puter. Technical specifications for the3ARG-D are given in Table 2.1. Specifica-tions for the 3ARG-A are similar. A...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 5 pptx
... (Courtesyof Massa Products Corp.)Parameter E-220B/215 E-220B/150 E-220B/40 E-220B/26 UnitsRange 10 - 614 - 2420 - 1528 - 6061 - 61024 - 24061 - 914 24 - 360cminBeamwidth 10 10 35 (15) 35 (15)Frequency ... 0.0760.030.10.040.760.310.4cminPower 8 - 15 8 - 15 8 - 15 8 - 15 VDCWeight 4 - 8 4 - 8 4 - 8 4 - 8 ozTable 4.1: Specifications for the monostatic E-220B Ultrasonic Ranging Module Subsystems. The E-201series is a ... using RS-422 serial communications, while the other fourreceivers use the RS-232 communications standard. The RS-422 and RS-232 standards for datatransmission are compared in Table 3.8. For the...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 6 pot
... linediodeLaserStartStopPeakdetectorRangegateDetectorTriggercircuitThresholddetectorRef106 Part I Sensors for Mobile Robot Positioning Figure 4 .14: Simplified block diagram of the AutoSense II time-of-flight 3-D ranging system. (Courtesy ofSchwartz Electro-Optics, Inc.)Parameter ... 3000 in their in-house-made lidars.Rac2fcoscos4 dcos2 (x n ) 114 Part I Sensors for Mobile Robot Positioning (4.5)(4.6)exceeds 360 ). Conrad and Sampson [1990] define this ambiguity interval ... pulse7654321(delayed)110 Part I Sensors for Mobile Robot Positioning Figure 4.18: Simplified block diagram of a three-camera configuration of the LORDS 3-D laser TOFrangefinding system. (Courtesy of Robotics...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 7 doc
... 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 ... 06/15/95ccwcwxy Robot cwccw Robot Nominal square pathNominal square path Nominal square patha. b. 140 Part II Systems and Methods for Mobile Robot Positioning Figure 5.9: Type A and Type B errors ... diameters).In the example here, this causesa 3o orientation error.Reference Wall\designer\book\deadre30.ds4, deadre32.w mf, 07/19/95134 Part II Systems and Methods for Mobile Robot Positioning Figure...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 8 pptx
... are another example.Chapter 5: Dead-Reckoning 149 Figure 5.16: Melboy, the mobile robot used byKomoriya and Oyama for fusing odometry and gyrodata. (Courtesy of [Komoriya and Oyama, 1994].)In ... [NAMCO,1989] = Vt - 45 (6.2)b where = target angleV = scan velocity (7,200 /s)T = time between scan initiation and targetbdetection. 150 Part II Systems and Methods for Mobile Robot Positioning Figure ... 21−−−=−−−156 Part II Systems and Methods for Mobile Robot Positioning Figure 6.5: A combination of threshold adjusting and phase detection is employed to provide higheraccuracy in time-of-arrival...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 10 pot
... ]o5:28 5.8 ( 2-1 /4) -7 .511:57 5.3 (2) -6 .2 14: 53 5.8 ( 2-1 /4) 0.118:06 4.0 ( 1-1 /2) -2 .720:12 2.5 (1) 3.08.2.5 Bauer and Rencken: Path Planning for Feature-based NavigationBauer 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 robot wasdeveloped at Monash University in ... 0.7B(150, -5 00) 5.7 ( 2-1 /4) 1.9C(1000, -5 00) 9.1 ( 3-1 /2) 5.3D(1800 ,-5 00) 55.8 (22) 5.9E(1800 ,-8 00) 63.2 (25) 6.8Table 8.2: Hand-measured position error of the robot at intermediate way-points...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 11 pps
... 0.24 0.43 0.05 0.04 0.05E 0 .14 0 .14 0 .14 0 .14 0 .14 0 .14 0 .14 F 0 .14 0 .14 0 .14 0.16 0 .14 0 .14 0 .14 G 0 .14 0 .14 0 .14 0 .14 0 .14 0 .14 0 .14 Table 8.5b: Probabilities for each place using only sonar.Stored ... δθθcamera camera camerasang03.cdr, .wmf210 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 sensoror a robot. Since the general framework of landmark-based and map-based positioning, as well as the methods using ultrasound and...
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