... 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 ... 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...
... 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...
... 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 ... diameters).
In the example here, this causes
a 3
o
orientation error.
Reference Wall
\designer\book\deadre30.ds4, deadre32.w mf, 07/19/95
134 Part II Systems and Methods...
... 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...
... 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 was
developed at Monash University in ...
The disadvantages of occupancy grid-based maps are that they:
194 Part II Systems and Methods for Mobile Robot Positioning
Figure 8.9: Siemens' Roamer robot is...
... 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...