... analog
output, 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. ... 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 diame...
... longitude
4
3. 3 .3 Test Results
Sections 3. 3 .3. 1 and 3. 3 .3. 2 discuss the test results for the static and dynamic tests, respectively,
and a summary of these results is given in Section 3. 3 .3. 3. The ... Products Corp.)
Parameter E-220B/215 E-220B/150 E-220B/40 E-220B/26 Units
Range 10 - 61
4 - 24
20 - 152
8 - 60
61 - 610
24 - 240
61 - 914
24...
...
LabMate
robot from TRC has a relatively small
wheelbase of 34 0 millimeters ( 13. 4 in). As a result, Gourley and Trivedi [1994], suggest that
132 Part II Systems and Methods for Mobile Robot Positioning
5.2 ... Wall
\designer\book\deadre30.ds4, deadre32.w mf, 07/19/95
134 Part II Systems and Methods for Mobile Robot Positioning
Figure 5 .3: The effect of...
... 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...