Where am I? Sensors and Methods for Mobile Robot Positioning

More documents

Recommendations

Info

Systems-at-a-Glance Tables Global Navigation Systems (GPS) - Commercial Products Name GPS Type Static position Static position error Time to City driving: Percent Manufacturer error mean standard dev. first fix of time navigation [m (feet)] [m (feet)] [min] data available Magnavox 6400 (10-year old system, out- 2-channel sequencing receiver 33.48 (110) 23.17 (76) ~30 no nav. data: 10.3% [MAGNAVOX] dated) only 2-D data:0.2% Magnavox Advanced Products full 3-D data: 89.4% and Systems Magellan OEM GPS Module 5-channel GPS receiver, OEM 22.00 (72) 16.06 (53) ~1 to 2 no nav. data: 0.0% [MAGELLAN] type only 2-D data:25.8% Magelan Systems Corp. full 3-D data: 74.2% Magnavox GPS Engine 5-channel GPS receiver, OEM 30.09 (99) 20.27 (67) ~1 to 2 no nav. data: 3.4% [ROCKWELL] type only 2-D data:5.3% Rockwell International full 3-D data: 91.2% Rockwell NavCore V 5-channel GPS receiver, OEM 28.01 (92) 19.76 (65) ~1 to 2 no nav. data: 0.0% [MAGNAVOX] type only 2-D data: 1.1% Magnavox Advanced Products full 3-D data: 98.9% and Systems Trimble Placer 5-channel GPS receiver, OEM 29.97 (98) 23.58 (77) ~1 to 2 no nav. data: 0.0% [TRIMBLE] type only 2-D data:5.2% Trimble Navigation full 3-D data: 94.8% 224
Systems-at-a-Glance Tables Beacon Positioning System - Commercial Products Name Computer Onboard Stationary Accuracy Accuracy - Sampling Features Effective Manufacturer Components Components - position [mm] o orientation [ ] rate [Hz] Range CONAC 486-33 MHz Structured opto- Networked opto- Indoor ±1.3 mm Indoor and 25 Hz 3-D - At least 3 Need line-of-sight [MacLeod, 1993] (computerized electronic acquisi- electronic acquisi- outdoor ±5 mm outdoor ±0.05º NOADS for one for at least three (MTI) opto-electronic tion beacon tion datum acre. Networkable NOADS navigation and (STROAB) (NOAD) for unlim. area control) ROBOSENSE Scanning laser Retroreflective tar- System measures direction and distance to beacons 10-40 Hz 2-D - Measure both 0.3-30 m [SIMAN] rangefinder gets with accuracy
Page 2 and 3:
7KH8QLYHUVLW\RI0LFKLJDQ Where am I
Page 4 and 5:
Acknowledgments This research was s
Page 6 and 7:
2.4.2.2 Watson Gyrocompass ........
Page 8 and 9:
6.4 Summary .......................
Page 10 and 11:
INTRODUCTION Leonard and Durrant-Wh
Page 12 and 13:
Part I Sensors for Mobile Robot Pos
Page 14 and 15:
14 Part I Sensors for Mobile Robot
Page 16 and 17:
Page 18 and 19:
Page 20 and 21:
Page 22 and 23:
Page 24 and 25:
Page 26 and 27:
Page 28 and 29:
Page 30 and 31:
CHAPTER 2 HEADING SENSORS Heading s
Page 32 and 33:
Page 34 and 35:
Page 36 and 37:
Page 38 and 39:
Page 40 and 41:
Page 42 and 43:
6 42 Part I Sensors for Mobile Robo
Page 44 and 45:
Page 46 and 47:
Page 48 and 49:
Page 50 and 51:
Page 52 and 53:
Page 54 and 55:
Page 56 and 57:
Page 58 and 59:
Page 60 and 61:
Page 62 and 63:
Page 64 and 65:
Excitation actuator Metglas reed Tu
Page 66 and 67:
Page 68 and 69:
Page 70 and 71:
Page 72 and 73:
Page 74 and 75:
Page 76 and 77:
Page 78 and 79:
Page 80 and 81:
Page 82 and 83:
Page 84 and 85:
Page 86 and 87:
Page 88 and 89:
Page 90 and 91:
Page 92 and 93:
Page 94 and 95:
Page 96 and 97:
Page 98 and 99:
Page 100 and 101:
Page 102 and 103:
Page 104 and 105:
Page 106 and 107:
Page 108 and 109:
Page 110 and 111:
Page 112 and 113:
Page 114 and 115:
Page 116 and 117:
Page 118 and 119:
Page 120 and 121:
Page 122 and 123:
Page 124 and 125:
Page 126 and 127:
Page 128 and 129:
Page 130 and 131:
CHAPTER 5 ODOMETRY AND OTHER DEAD-R
Page 132 and 133:
132 Part II Systems and Methods for
Page 134 and 135:
Page 136 and 137:
Page 138 and 139:
Page 140 and 141:
Page 142 and 143:
Page 144 and 145:
Page 146 and 147:
Page 148 and 149:
Page 150 and 151:
Page 152 and 153:
Page 154 and 155:
Page 156 and 157:
Page 158 and 159:
Page 160 and 161:
Page 162 and 163:
Page 164 and 165:
Page 166 and 167:
Page 168 and 169:
Page 170 and 171:
Page 172 and 173:
Page 174 and 175: 174 Part II Systems and Methods for
Page 178 and 179: R e t r o r e f l e c t i v e m a r
Page 184 and 185: CHAPTER 8 MAP-BASED POSITIONING Map
Page 218 and 219: 218 Appendices, References, Indexes
Page 220 and 221: 220 Appendices, References, Indexes
Page 222 and 223: Systems-at-a-Glance Tables Odometry
Page 226 and 227: Systems-at-a Glance Tables Beacon N
Page 228 and 229: Systems-at-a-Glance Tables Landmark
Page 234 and 235: This page intentionally left blank
Page 236 and 237: REFERENCES 1. Abidi, M. and Chandra
Page 238 and 239: 238 References 31. Boltinghouse, S.
Page 240 and 241: 240 References MOBOT-IV.” Proceed
Page 242 and 243: 242 References 90. Dahlin, T. and K
Page 244 and 245: 244 References 120. Fisher, D., Hol
Page 246 and 247: 246 References 156. Janet, J., Luo,
Page 248 and 249: 248 References 187. Larsson, U., Ze
Page 250 and 251: 250 References 220. Nolan, D.A., Bl
Page 252 and 253: 252 References 249. Sanders, G.A.,
Page 254 and 255: 254 References 278. Turpin, D.R., 1
Page 256 and 257: 256 References 309. EATON - Eaton-K
Page 258 and 259: 258 References 349. SPSi - Spatial
Page 260 and 261: 260 References 380. MacKenzie, P. a
Page 262 and 263: 262 Index AC ..............47, 59,
Page 264 and 265: 264 Index Datums ..................
Page 266 and 267: 266 Index glass ...................
Page 268 and 269: 268 Index lateral-post ............
Page 270 and 271: 270 Index NPN .....................
Page 272 and 273: 272 Index signal ..... 17, 31, 38,
Page 274 and 275:
274 Index Abidi ...................
Page 276 and 277:
276 Index Kak .....................
Page 278 and 279:
278 Index Weiman ..................
Page 280 and 281:
280 Index Video Index This CD-ROM c
Page 282:
282 Index Paper 52 Paper 53 Paper 5
show all

Where am I? Sensors and Methods for Mobile Robot Positioning

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?