... 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 Pa...
... 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 ... large
axis
n
co
n
cl
Waveguide
NA ' sin2
c
' n
2
co
&n
2
cl
2
1
Numerical aperture
Waveguide
axis
40 Part I Sensors for Mobile Robot Positioning
Figure 2.8: Step-index m...
... con-
sumption (250 mA), and
stiction in the resolver re-
flecting back as a load into
the drive circuitry, introduc-
ing some error for minor
46 Part I Sensors for Mobile Robot Positioning
Before we introduce ... 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 wh...
... 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 ... pulse
7654321
(delayed)
110 Part I Sensors for Mobile Robot Positioning...
... 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 ... just 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...
... 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...
... ]
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...
... 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...