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The strategy uses only bearing angle information of the target and the neighbours.
Due to the limited resolution of bearing angle measurements of the cheap radar module, CCD measurements are used to compensate for the low angle resolution.
By sensing a magnetic field strength of 190nT, the EMHGS is found to have an effective range of 7 m, and capable of effecting AUV orientation correction by measuring the bearing angle.
With considering collision avoidance, a novel robot priority model, based on the desired distance and bearing angle between the leader and follower robots, is designed during the obstacle avoidance process.
The sensory information regarding obstacle distances and bearing angle towards the target are considered as inputs to the controller and necessary velocities for avoiding the obstacles are obtained as outputs.
b A bearing angle image of (a).
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By calculating new desired distances and bearing angles with the leader robot, the follower robots switch into a safe formation.
High-resolution methods for estimating signal processing parameters such as bearing angles in array processing or frequencies in spectral analysis may be hampered by the model order if poorly selected.
The optimal combination of key structural parameters of the XSJ joint is taper 1 16, thread pitch 6.55 mm, guiding surface angle 29°, bearing surface angle 28°, and tooth height 3.755 mm.
Finally, Müller's hypothesis on the use of acoustic flow by CF FM bats for obstacle avoidance is also implemented in RoBat, resulting in a crude estimation of the target's passing distance at small bearing angles, which improves as the angle increases, nevertheless sufficing for avoiding the two reflectors of the experiment.
The first one is bearing-only measurement, i.e., each robot can only measure the bearing angles of the detectable robots in its local frame.
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