Where am I? Sensors and Methods for Mobile Robot Positioning

... either the inside or outside steering angles (2i or 2o) as follows [Byrne et al., 19 92] : cot2SA ' d % cot2i 2l (1.9) or, alternatively, cot2SA ' cot2o & d 2l (1.10) Ackerman steering provides a fairly ... 22 Part I Sensors for Mobile Robot Positioning cot2i &cot2o' d l (1.8) where 2i = relative steering angle of the inner wheel 2o = relative steering angle of the ... resonators (2. 3.1)...

Ngày tải lên: 10/08/2014, 02:21

... Weight (total) Power 77 dia × 88 mm 3. 0 dia × 3. 5 in 0. 63 1 .38 to 18 630 kg lb VDC mA Figure 2.11: The Andrew Autogyro Model 3ARG (Courtesy of [Andrew Corp].) 44 Part I Sensors for Mobile Robot Positioning ... 2.1.2 .3) based on polarization-maintaining fiber and precision fiber-optic gyroscope technology Model 3ARG-A ($950) comes with an analog output, while model 3ARG-D ($1,100) ha...

Ngày tải lên: 10/08/2014, 02:21

... Frequency E-220B/2 15 E-220B/ 150 E-220B/40 10 - 61 - 24 10 20 - 152 - 60 10 61 - 610 24 - 240 35 ( 15) E-220B/26 Units 61 - 914 cm 24 - 360 in 35 ( 15)  2 15 150 40 Max rep rate Resolution 150 0.076 0.03 ... ranging modules (Courtesy of Polaroid.) Parameter Original SN28827 Maximum range 10 .5 35 10 .5 35 Minimum range* 25 10 .5 56 20 16 20 cm in 16 1.6 2.38 2.38 ms 16 no 12 yes N...

Ngày tải lên: 10/08/2014, 02:21

... parallel, RS-422 9- 16 VDC 880 Size (electronics) (scanner) Weight 22×13×7 .6 8.7×5.1×3 18×10×10 7×4×4 m ft m ft mA 22×13×7 .6 8.7×5.1×3 18×10×10 7×4×4 cm in cm in (electronics) 7.25 2. 86 lb (scanner) ... mrad approximately 50 MHz at zero range to MHz at Wavelength 780 /67 0 nm 20 meters (66 ft) The distance to Maximum range 20 m 65 ft target can be determined through use of a frequency...

Ngày tải lên: 10/08/2014, 02:21

... possible with additional signal processing Figure 4. 37: Safety First/General Microwave Corporation's Collision Avoidance Radar, Model 170 7A with two antennas (Courtesy of Safety First/General ... Ackerman vehicles Hongo et al [19 87] had built such a set of encoder wheels, to improve the accuracy of a large differential-drive mobile robot weighing 350 kilograms (77 0 lb) Hongo et al report...

Ngày tải lên: 10/08/2014, 02:21

... percent of distance traveled) run between $20K to $50K [Dahlin and Krantz, 1 988 ] \book \tvin4set.ds4;.w mf, 07/19/95 146 Part II Systems and Methods for Mobile Robot Positioning Experimental results ... calculated without the outliers p and p 18 is at P b = (12.5 cm, 18. 3 cm) The final position estimate after the Position Estimator is applied again on the 18 “good” landmarks (i.e., wit...

Ngày tải lên: 10/08/2014, 02:21

... features Large enough? Generate hypothesis yes Localization Delete features Hypothetical features no Implausible? yes Large enough? yes yes no Too old? yes Cluster hypothesis Robot position Observation ... map-building algorithm maintains a hypothesis tree for the three sensor reading categories: hypothetical, tentative, and confirmed (Adapted from [Rencken, 1994].) 194 Part II Systems and...

Ngày tải lên: 10/08/2014, 02:21

... 214 Part II Systems and Methods for Mobile Robot Positioning 9.4.1 Three-Dimensional Geometric Model-Based Positioning Fennema et al [1990] outlined a system for navigating a robot in a partially ... extracted from its map of the current locale with representative features of known locales in the 204 Part II Systems and Methods for Mobile Robot Positioning environment The goal is to reco...

Ngày tải lên: 10/08/2014, 02:21

... filter (128 128 ) Circle (R=107mm) At 2000 mm 35 mm Global vision Robot localization using a single image Sony CCD camera, f=8.5mm resolution = 0 .12 /pixel at image center Vertically oriented parts ... 10 Hz [Tsumura et al., 1988] Ultrasonic beacons Eight sonar receiver array (45E apart) Six sonar beacons in a 12 m2 space Measured standard dev of path error of 40 mm 150 ms [Kleeman, 1992]...

Ngày tải lên: 10/08/2014, 02:21

... Robotics and Automation, nce San Diego, CA, May 8 -13, pp 130 6 -131 1 136 GPS Report November 5, 1992 Potomac, MD: Phillips Business Information 137 Grenoble, B., 1990, “Sensor and Logic Form Digital ... Literature, 1490 and 1525 Magnetic Sensors, Flint, MI, 313- 744 -133 0 308 ERIM - Environmental Research Institute of Michigan, Box 8618, Ann Arbor, MI 48107, 3139 94-1200 256 References...

Ngày tải lên: 10/08/2014, 02:21

... 25-28, 143 , 144 mean 38, 83, 84, 86, 123, 149 , 226, 227, 232, 233 mechanical 2, 14- 16, 23, 30-34, 38, 44-47, 58, 62, 102, 118, 146 , 179, 243, 248 Index mechanical-scanner ... 215 tractor-trailer 144 , 145 trailer 138, 139, 144 , 145 , 222, 238, 243, 248 trajectory 133, 140 , 150, 196, 215, 216 Trak-Star ... 199, 210 heading 15, 21, 22, 24, 30, 45-47, 53, 54, 57, 58, 66, 80, 1...

Ngày tải lên: 10/08/2014, 02:21

Ngày tải lên: 10/08/2014, 02:21

... The Andrew Autogyro Model 3ARG (Courtesy of [Andrew Corp].) 44 Part I Sensors for Mobile Robot Positioning Table 2.1: Selected specifications for the Andrew Autogyro Navigator (Courtesy of [Andrew ... 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 F...

Ngày tải lên: 22/12/2013, 20:16