... the unique Multi-Degree-of-Freedom (MDOF)
vehicle shown in Figures 1. 15 and 1. 16 [Borenstein, 19 92; 19 93; 19 94c; 19 95]. This vehicle
comprises two differential-drive LabMate robots from [TRC]. ... equation [Byrne et al., 19 92]:
a.
Top view
b.
R
Motor 2
of base
Motor 1
Forward
Motor 3
mdof 01. ds4, mdof 01. wmf, 5 /19 /94
26 Part I Sensors for Mobile Robot Positionin...
... 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 ... the C -1 0 0: 1) the SE-25 sensor, recommended for
applications with a tilt range of 16 degrees and 2) the SE -1 0 sensor, for applications anticipating
a tilt angle of up to ±45 degr...
... compression circuit from in [Adams and Probert, 19 95].
(Reproduced with permission from [Adams and Probert, 19 95].)
13 8 Part II Systems and Methods for Mobile Robot Positioning
odometry with the ... al.,
19 81; Borenstein and Koren, 19 85; Cox,
19 91] can be shown to have the same short-
comings as the uni-directional square path.
5.2 .1. 2 The Bidirectional Squar...