... 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...
... 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 ... a potential low-cost alternative to the high-tolerance machining and clean-room
assembly required for ring-laser gyros. The glass fiber in essence forms an internally reflective
waveguide...
... 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 similar. A ... mild
Amplifier
Amplifier
processor
Display
Driver
Fluxgate
sensor
digital
Driver
convertor
Oscillator
Driver
Analog
to
Micro-
54 Part I Sensors for Mobile Robot Positioning
Figure 2...
... 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 ... 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 50 100 150 200 250...
... 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...
... and Methods for Mobile Robot Positioning
Point Absolute x,y-
coordinates [cm]
Pos. Error
[cm] (in)
Orient.
Error [°]
A
(0,0) 2.3 (7/8) 0.7
B
(150, -5 00) 5.7 ( 2-1 /4) 1.9
C
(100 0, -5 00) 9.1 ( 3-1 /2) ... 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...
... 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
m...