Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 15 docx

... 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 ... Futaba FP-G154 [FUTABA] is a low- cost low-accuracy mechanical rate gyro designed for use in radio-controlled model helicopters and model airplanes. The Futaba FP-G154 costs less than $150...

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 ... 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 si...

Ngày tải lên: 10/08/2014, 02:21

... 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 215 150 40 ... rate 150 100 25 20 Hz Resolution 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...

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 ... in the scene. 116 Part I Sensors for Mobile Robot Positioning Parameter...

Ngày tải lên: 10/08/2014, 02:21

... 3 kilograms (6.75 lb), and operates from 12 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 ... compression circuit from in [Adams and Probert, 1995]. (Reproduced with permission from [Adams and Probert, 1995].) 138 Part II Systems and Methods for Mobile...

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

... 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 (1800 ,-5 00) 55.8 (22) 5.9 E (1800 ,-8 00) 63.2 (25) 6.8 Table 8.2: Hand-measured position error of the robot at intermediate way-points ... 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 mobi...

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