Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 14 pps

... 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 ... cavity, the round-trip beam path must Chapter 1: Sensors for Dead Reckoning 27 Figure 1 .14: An 8-DOF platform with four wheels individually driven and steered. This platform was designed...

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 diameters...

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

... line diode Laser Start Stop Peak detector Range gate Detector Trigger circuit Threshold detector Ref 106 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 of Schwartz Electro-Optics, Inc.) Parameter ... 3000 in their in-house-made lidars. R a c 2f cos cos 4 d cos 2 (x n ) 114 Par...

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 Positi...

Ngày tải lên: 10/08/2014, 02:21

... are another example. Chapter 5: Dead-Reckoning 149 Figure 5.16: Melboy , the mobile robot used by Komoriya and Oyama for fusing odometry and gyro data. (Courtesy of [Komoriya and Oyama, 1994].) 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 Part II Systems and M...

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

... 0.24 0.43 0.05 0.04 0.05 E 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 ... δθ θ camera camera camera sang03.cdr, .wmf 210 Part II Systems and Methods for Mobile Robot Positioning Figure 9.3: a. Possible came...

Ngày tải lên: 10/08/2014, 02:21