... 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 ... 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...
... 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...
... 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...
... 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...
... 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...
... ]
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...
... 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...