Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 3 pps

... 48109Ph.: (31 3) 76 3- 1 560 Fax: (619) 55 3- 6 188 Ph.: (31 3) 93 6-9 36 2Fax: (31 3) 94 4-1 1 13 Email: Everett@NOSC.MIL Fax: (31 3) 76 3- 1 260Email: johannb@umich.edu Email: Feng@engin.umich.edu2) 3) Please ... iron and nickel) and mumetal (iron, nickel, Where am I? Sensors and Methods for Mobile Robot Positioning byJ. Borenstein , H. R. Everett , and L. Feng1 23 Contributing authors: S. W. Lee and ... analogoutput, 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....

... (2 .3. 2).Open-loop fiber-optic interferometers (analog) (2 .3. 3).Closed-loop fiber-optic interferometers (digital) (2 .3. 4).Fiber-optic resonators (2 .3. 5).Aronowitz [1971], Menegozzi and Lamb ... pivot axis.R1 .3. 6 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 ... thesteering-angle encoder, while displace-ment in the direction of travel is given asfollows: 34 Part I Sensors for Mobile Robot Positioning Figure 2.4: The Murata Gyrostar ENV-05H is a piezoelectricvibrating...

... analogoutput, 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. ... 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 ... 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 Figure 2.11, for...

... longitude4 3. 3 .3 Test ResultsSections 3. 3 .3. 1 and 3. 3 .3. 2 discuss the test results for the static and dynamic tests, respectively, and a summary of these results is given in Section 3. 3 .3. 3. The ... Products Corp.)Parameter E-220B/215 E-220B/150 E-220B/40 E-220B/26 UnitsRange 10 - 614 - 2420 - 1528 - 6061 - 61024 - 24061 - 91424 - 36 0cminBeamwidth 10 10 35 (15) 35 (15)Frequency ... 1.7×l0 -6 0.19Rockwell NavCore V 5. 73 l0 -1 06 .36 ×l0 -5 Magnavox 6400 10 5. 73 l0 -8 -7 6 .36 ×l0 -2 Trimble Placer 10 -5 1.11Table 3. 9: Accuracy of receiver data formats. (Courtesy of [Byrne, 19 93] .)Once...

... 2¾52cmin(velocity) 0 .3 0.5 m/sBeam divergence 2 2.8 mradOutput (digital) RS- 232 , -4 22 RS- 232 , -4 22(analog) 0-1 0 0-1 0 VDCPower 1 1-1 8 1 1-1 8 VDC10 10 WSize 22× 13 7.68.7×5.1 3 22× 13 7.68.7×5.1 3 cminWeight ... Sensors for Mobile Robot Positioning Parameter Value UnitsRange (non-cooperativetarget)1 to 100 3. 3- 3 28mftAccuracy 30 ±12cminRange jitter ±12±4.7cminWavelength 902 nmDiameter 89 3. 5mminLength ... 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...