Where Am I-Sensors and methods for mobile robot positioning - Borenstein(2001) Part 6 pot
Tài liệu Where am I? Sensors and Methods for Mobile Robot Positioning ppt
... 55 3-3 67 2 Ann Arbor, MI 48109Ph.: (313) 76 3-1 560 Fax: (61 9) 55 3 -6 188 Ph.: (313) 93 6- 9 362 Fax: (313) 94 4-1 113 Email: Everett@NOSC.MIL Fax: (313) 76 3-1 260 Email: johannb@umich.edu Email: Feng@engin.umich.edu2) ... iron and nickel) and mumetal (iron, nickel, Where am I? Sensors and Methods for Mobile Robot Positioning byJ. Borenstein , H. R. Everett , and L. Feng123Contributing authors: S. W. Lee and ... code Part I Sensors for Mobile Robot Positioning axisnconclWaveguideNA ' sin2c' n2co&n2cl21Numerical apertureWaveguideaxis40 Part I Sensors for Mobile Robot Positioning Figure...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 2 ppsx
... 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 ... n2co&n2cl21Numerical apertureWaveguideaxis40 Part I Sensors for Mobile Robot Positioning Figure 2.8: Step-index multi-mode fiber. (Adapted from[Nolan et al., 1991].)(2 .6) Figure ... a potential low-cost alternative to the high-tolerance machining and clean-roomassembly required for ring-laser gyros. The glass fiber in essence forms an internally reflectivewaveguide for...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 3 pps
... re-flecting back as a load intothe drive circuitry, introduc-ing some error for minor 46 Part I Sensors for Mobile Robot Positioning Before we introduce different types of compasses, a word of ... 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...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 5 pptx
... Corp.)Parameter E-220B/215 E-220B/150 E-220B/40 E-220B/ 26 UnitsRange 10 - 61 4 - 2420 - 1528 - 60 61 - 61 024 - 240 61 - 91424 - 360 cminBeamwidth 10 10 35 (15) 35 (15)Frequency 215 150 40 26 ... GPS Engine 1.7×l0 -6 0.19Rockwell NavCore V 5.73×l0 -1 0 6. 36 l0 -5 Magnavox 64 00 10 5.73×l0 -8 -7 6. 36 l0 -2 Trimble Placer 10 -5 1.11Table 3.9: Accuracy of receiver data formats. (Courtesy ... HzResolution 0.0 76 0.030.10.040. 76 0.310.4cminPower 8 - 15 8 - 15 8 - 15 8 - 15 VDCWeight 4 - 8 4 - 8 4 - 8 4 - 8 ozTable 4.1: Specifications for the monostatic E-220B Ultrasonic Ranging...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 6 pot
... 4. 26) projects a collimated beamof near-infrared or visible laser light,amplitude modulated with a non-sinu-soidal waveform at a 50-percent dutycycle. A 63 . 6- millimeter (2.5 in) collec-tion ... linediodeLaserStartStopPeakdetectorRangegateDetectorTriggercircuitThresholddetectorRef1 06 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 ... 3000 in their in-house-made lidars.Rac2fcoscos4 dcos2 (x n )114 Part I Sensors for Mobile Robot Positioning (4.5)(4 .6) exceeds 360 ). Conrad and Sampson [1990] define this ambiguity interval...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 7 doc
... 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 ... .wmf, 06/ 15/95ccwcwxy Robot cwccw Robot Nominal square pathNominal square path Nominal square patha. b.140 Part II Systems and Methods for Mobile Robot Positioning Figure 5.9: Type A and ... errors.Systematic ErrorsUnequal wheel diameters.Average of actual wheel diameters differs from nominal wheel diameter.1 26 Part I Sensors for Mobile Robot Positioning Figure 4. 36: The electronics control...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 8 pptx
... 21−−−=−−−1 56 Part II Systems and Methods for Mobile Robot Positioning Figure 6. 5: A combination of threshold adjusting and phase detection is employed to provide higheraccuracy in time-of-arrival ... zero, and the gyros should ideally show ).Barshan and Durrant-Whyte determined that the standard deviation, here used as a measure for the152 Part II Systems and Methods for Mobile Robot Positioning TriangulationIn ... [NAMCO,1989] = Vt - 45 (6. 2)b where = target angleV = scan velocity (7,200 /s)T = time between scan initiation and targetbdetection. 150 Part II Systems and Methods for Mobile Robot Positioning Figure...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 10 pot
... ]o5:28 5.8 ( 2-1 /4) -7 .511:57 5.3 (2) -6 .214:53 5.8 ( 2-1 /4) 0.118: 06 4.0 ( 1-1 /2) -2 .720:12 2.5 (1) 3.08.2.5 Bauer and Rencken: Path Planning for Feature-based NavigationBauer and Rencken ... position 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 robot wasdeveloped at Monash University ... the robot& apos;s slowspeed of 6 mm/s (1/4 in/s).c(y) ' limX6412XmX&Xf(x)g(x% y)dx .192 Part II Systems and Methods for Mobile Robot Positioning (8.3)DefinitionA cross-correlation...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 11 pps
... δθθcamera camera camerasang03.cdr, .wmf210 Part II Systems and Methods for Mobile Robot Positioning Figure 9.3: a. Possible camera locations (circular arc) determined by two rays and corresponding ... scarce.2 06 Part II Systems and Methods for Mobile Robot Positioning 8.4 SummaryMap-based positioning is still in the research stage. Currently, this technique is limited to laboratorysettings and ... positioning means finding position and orientation of a sensoror a robot. Since the general framework of landmark-based and map-based positioning, as well as the methods using ultrasound and...
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