... 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 ... 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...
... 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...
... 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...
... 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...
... 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...
... 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...
... 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...