机器人手册(英文版)

7KH8QLYHUVLW\RI0LFKLJDQ7KH8QLYHUVLW\RI0LFKLJDQWhereamI?SensorsandMethodsforMobileRobotPositioningbyJ.Borenstein,H.R.Everett,andL.Feng123Contributingauthors:S.W.LeeandR.H.ByrneEditedandcompiledbyJ.BorensteinApril1996PreparedbytheUniversityofMichiganFortheOakRidgeNationalLab(ORNL)D&DProgramandtheUnitedStatesDepartmentofEnergy'sRoboticsTechnologyDevelopmentProgramWithintheEnvironmentalRestoration,DecontaminationandDismantlementProjectDr.JohannBorensteinCommanderH.R.EverettDr.LiqiangFeng1)TheUniversityofMichiganNavalCommand,Control,andTheUniversityofMichiganDepartmentofMechanicalOceanSurveillanceCenterDepartmentofMechanicalEngineeringandAppliedMechanicsRDT&EDivision5303EngineeringandAppliedMechanicsMobileRoboticsLaboratory271CatalinaBoulevardMobileRoboticsLaboratory1101BealAvenueSanDiego,CA92152-50011101BealAvenueAnnArbor,MI48109Ph.:[phone]AnnArbor,MI48109Ph.:[phone]Fax:[phone]Ph.:[phone]Fax:[phone]Email:[e-mail]:[phone]Email:[e-mail]:[e-mail]2)3)PleasedirectallinquiriestoJohannBorenstein.HowtoUsethisDocumentTheuseoftheAcrobatReaderutilityisstraight-forward;ifnecessary,helpisavailablefromtheHelpMenu.Herearesometips:YoumaywishtoenableView=Bookmarks&Pagetoseealistofbookmarksbesidesthecurrentpage.ClickingonabookmarkwillcausetheAcrobatReadertojumpdirectlytothelocationmarkedbythebookmark(e.g.,thefirstpageinaspecificchapter).YoumaywishtoenableView=Thumbnails&Pagetoseeeachpageasasmallthumbnail-sizedimagebesidesthecurrentpage.Thisallowsyoutoquicklylocateapagethatyourememberbecauseofatableorgraphicselement.ClickingonathumbnailwillcausetheAcrobatReadertojumpdirectlytothepagemarkedbythethumbnail.Occasionallyatermwillbemarkedbyaredrectangle,indicatingareferencetoanexternaldocument.Clickinginsidetherectanglewillautomaticallyloadthereferenceddocumentanddisplayit.Clickingonthe€keywillreturntheAcrobatReadertotheoriginaldocument.Occasionallyatermwillbemarkedbyabluerectangle.Thisindicatesalinktoanexternalvideoclip.Clickinginsidethebluerectanglewillbringupthevideoplayer(providedoneisinstalledonyourplatform).Ifyouwouldliketocheckthevideoclips,Ifyouwouldliketocontributeyourownclickhereforalistandinstructions:materialfornextyear'seditionoftheWhereamIReport,clickhereforinstruc-tions.4AcknowledgmentsThisresearchwassponsoredbytheOfficeofTechnologyDevelopment,U.S.DepartmentofEnergy,undercontractDE-FG02-86NE37969withtheUniversityofMichiganSignificantportionsofthetextwereadaptedfromSensorsforMobileRobots:TheoryandApplicationbyH.R.Everett,AKPeters,Ltd.,Wellesley,MA,Publishers,1995.Chapter9wascontributedentirelybySangW.LeefromtheArtificialIntelligenceLabattheUniversityofMichiganSignificantportionsofChapter3wereadaptedfrom“GlobalPositioningSystemReceiverEvaluationResults.”byRaymondH.Byrne,originallypublishedasSandiaReportSAND93-0827,SandiaNationalLaboratories,1993.TheauthorswishtothanktheDepartmentofEnergy(DOE),andespeciallyDr.LintonW.Yarbrough,DOEProgramManager,Dr.WilliamR.Hamel,D&DTechnicalCoordinator,andDr.ClydeWard,LandfillOperationsTechnicalCoordinatorfortheirtechnicalandfinancialsupportoftheresearch,whichformsthebasisofthiswork.TheauthorsfurtherwishtothankProfessorsDavidK.WeheandYoramKorenattheUniversityofMichiganfortheirsupport,andMr.HarryAlter(DOE)whohasbefriendedmanyofthegraduatestudentsandsiredseveralofourrobots.ThanksarealsoduetoToddAshleyEverettformakingmostoftheline-artdrawings.5TableofContentsIntroduction................................................................10PARTISENSORSFORMOBILEROBOTPOSITIONINGChapter1SensorsforDeadReckoning.........................................131.1OpticalEncoders........................................................131.1.1IncrementalOpticalEncoders..........................................141.1.2AbsoluteOpticalEncoders...........................................161.2DopplerSensors.........................................................171.2.1Micro-TrakTrak-StarUltrasonicSpeedSensor............................181.2.2OtherDoppler-EffectSystems.........................................191.3TypicalMobilityConfigurations............................................191.3.1DifferentialDrive...................................................191.3.2TricycleDrive.....................................................211.3.3AckermanSteering.................................................211.3.4SynchroDrive.....................................................231.3.5OmnidirectionalDrive...............................................251.3.6Multi-Degree-of-FreedomVehicles.....................................261.3.7MDOFVehiclewithCompliantLinkage.................................271.3.8TrackedVehicles...................................................28Chapter2HeadingSensors...................................................302.1MechanicalGyroscopes..................................................302.1.1Space-StableGyroscopes.............................................312.1.2Gyrocompasses...........................................