Where am I? Sensors and Methods for Mobile Robot Positioning

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168 Part II Systems and Methods for Mobile Robot Positioning position of the vehicle during a typical run. 2,200 data points were collected along the 200 meter (650 ft) long path. The docking maneuver at the end of the path brought the robot to within 2 centimeters (0.8 in) of the desired position. On the tight turns, the Scooter decelerated to smoothly execute the hairpin turns. Figure 6.22: MTI's Scooter zips through a race course; tight close-loop control is maintained even in mid-air and at speeds of up to 6.1 m/s (20 ft/s). Figure 6.23: Preprogrammed race course and recorded telemetry of the Scooter experiment. Total length: 200 m (650 ft); 2200 data points collected. (Courtesy of MTI Research, Inc.)
Chapter 6: Active Beacon Navigation Systems 169 TM CONAC Fixed Beacon System A stationary active beacon system that tracks an omnidirectional sensor mounted on the robot is currently being sold to allow for tracking multiple units. TM (The original CONAC system allows only one beacon to be tracked at a given time.) The basic system consists of two synchronized stationary beacons that provide bearings to the mobile sensor to establish its x-y location. A hybrid version of this approach employs two lasers in one of the beacons, as illustrated in Figure 6.24, with the lower laser plane tilted from the vertical to provide coverage along the z-axis for three-dimensional applications. A complete two-dimensional indoor system is shown in Figure 6.25. Long-range exterior position accu racy is specified as ±1.3 millimeters (±0.5 in) and the heading accuracy as ±0.05 degrees. The nominal maximum Vertically oriented scanning laser plane for x and y measurements This scanning laser plane is tilted from vertical for z measurements Electronics Laser diode and collimating optics Rotating optics module cylinder lens and mirror Scan motor Rotating optics module for tilted laser plane Electronics Figure 6.24: Simplified cross section view of the dual-laser position-location system now under development for tracking multiple mobile sensors in 3-D applications. (Courtesy of MTI Research, Inc.) line-of-sight distance is 250 meters (780 ft), but larger distances can be covered with a more complex system. The system was successfully demonstrated in an outdoor environment when MacLeod engineers outfitted a Dodge caravan with electric actuators for steering, throttle, and brakes, then drove the unmanned vehicle at speeds up to 80 km/h (50 mph) [Baker, 1993]. MTI recently demonstrated the same vehicle at 108 km/h (65 mph). Absolute position and heading accuracies were sufficient to allow the Caravan to maneuver among parked vehicles and into a parking place using a simple AutoCad representation of the environment. Position computations are updated at a rate of 20 Hz. This system represents the current state-of-the-art in terms of active beacon positioning [Fox, 1993; Baker, 1993; Gunther, 1994]. A basic system with one STROAB and three NOADs costs on the order of $4,000. Figure 6.25: MTI's basic 2-D indoor package. A mobile position transponder (shown in lower center) detects the passing laser emissions generated by the two spread-out stationary laser beacons. (Courtesy of MTI Research, Inc.)
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7KH8QLYHUVLW\RI0LFKLJDQ Where am I
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Acknowledgments This research was s
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2.4.2.2 Watson Gyrocompass ........
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INTRODUCTION Leonard and Durrant-Wh
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Part I Sensors for Mobile Robot Pos
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14 Part I Sensors for Mobile Robot
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218 Appendices, References, Indexes
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220 Appendices, References, Indexes
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Systems-at-a-Glance Tables Odometry
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Systems-at-a-Glance Tables Global N
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Systems-at-a Glance Tables Beacon N
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Systems-at-a-Glance Tables Landmark
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REFERENCES 1. Abidi, M. and Chandra
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238 References 31. Boltinghouse, S.
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240 References MOBOT-IV.” Proceed
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242 References 90. Dahlin, T. and K
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244 References 120. Fisher, D., Hol
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246 References 156. Janet, J., Luo,
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248 References 187. Larsson, U., Ze
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250 References 220. Nolan, D.A., Bl
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252 References 249. Sanders, G.A.,
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254 References 278. Turpin, D.R., 1
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256 References 309. EATON - Eaton-K
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258 References 349. SPSi - Spatial
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260 References 380. MacKenzie, P. a
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262 Index AC ..............47, 59,
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264 Index Datums ..................
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266 Index glass ...................
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268 Index lateral-post ............
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270 Index NPN .....................
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272 Index signal ..... 17, 31, 38,
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280 Index Video Index This CD-ROM c
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282 Index Paper 52 Paper 53 Paper 5
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