Sensors and Methods for Mobile Robot Positioning

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262 Index AC ..............47, 59, 65, 81, 82, 103, 226, 246 acceleration ................ 10, 73, 146, 220, 223 accelerometer ..................... 146, 147, 223 accumulate ............................... 131 AccuRange ............................117-119 Ackerman .......................... 21, 22, 138 acoustic ............................. 115, 247 acousto-optical ............................ 115 acquisition .... 71, 82, 111, 159, 164, 166, 173, 201, SUBJECT INDEX autonomous ...... 22, 28, 29, 45, 66, 102, 116, 143, 254, 259 146, 163, 171, 179, 180, 229, 238-246, 248- active ..... 10, 11, 35, 36, 38, 39, 42, 62, 65, 68, 93, 95, 99, 151, 152, 155, 158, 163, 169, 170, 250, 252, 253, 255, 259, 260 AutoSense ............................104-106 172, 176, 183, 197, 198, 217, 225, 226 auto-compensation .......................... 57 active/passive .............................. 93 availability ................ 73, 75, 78, 93, 97, 109 actuators ...................... 62, 169, 248, 255 backscatter ............................ 38, 107 AGC .................................... 116 balanced-mirror ........................... 118 AGV ..... 15, 21, 160, 161, 165, 176, 178, 246, 252 balanced-mixer ........................... 126 airborne .............................. 17, 107 b<strong>and</strong>width .................... 14, 43, 44, 59, 127 aircraft ......................... 42, 65, 76, 145 bar-code ............................. 176, 178 airplanes ........................... 10, 33, 151 baseline .............................. 65, 216 air-core ................................... 53 base-station ............................... 76 algorithm ...... 12, 26, 57, 107, 144, 152-154, 175, baud ............................ 56, 57, 92, 93 187, 190, 191, 193, 194, 198, 199, 203-205, beacon .... 15, 65, 69, 118, 151-153, 155, 158-160, alignment .... 23, 32, 46, 57, 61, 166, 200, 212, 235 all-solid-state .............................. 43 all-terrain ................................. 22 almanac ............................... 71, 93 alphanumeric ............................. 175 altimeters ................................ 107 altitude ................................... 70 amorphous ................................ 60 amplitude ......... 63, 95, 101, 112, 113, 117, 118, -induced .............................. 121 bias ............. 42-44, 49, 62, 137, 147, 148, 178 -modulated .................. 42, 95, 123, 255 bias-free ................................. 137 AMR .................................... 59 bidirectional .................. 134, 136, 142, 222 analog ......34, 35, 42-44, 47, 52, 54-59, 62, 63, 98, binary ................... 16, 17, 92, 93, 110, 111 101, 103, 108, 113, 118, 161, 222, 223, 230 -coded .......................... 16, 17, 176 analog-to-digital ........................... 101 Andros ............................ 28, 29, 139 annealed .................................. 62 antenna ............ 67, 79-81, 83, 91, 93, 125, 126 ARK ........................ 174, 175, 229, 246 Army ....................... 103, 228, 249, 257 arrays ................... 109, 110, 159, 160, 207 arsenide ............................ 57, 58, 92 ASCII .................................... 93 associative location ......................... 69 asynchronous ........................... 16, 88 atmospheric ......................... 72, 73, 77 atom ..................................... 71 attention ........................... 59, 79, 207 attenuation ............................. 41, 79 attractive ........................ 10, 42, 43, 146 audible .................................. 126 Case .................................... 153 AutoCad ................................. 169 autocalibration ............................. 69 AUTOGYRO ....................... 43, 44, 223 209-212, 214, 227, 232, 241 163-166, 169, 172, 176, 183, 195, 225-228, 230, 240, 260 beam .... 13, 16, 18, 36-38, 42, 61-63, 96, 100, 102- 105, 107-109, 112, 114-119, 123, 125, 152, 159, 160, 163, 165-167, 170, 178, 225, 226, 253 beamwidth ..................... 97, 98, 121, 126 bearing ..... 46, 70, 75, 76, 119, 138, 143, 158, 161, 163, 164, 175, 222, 225 belt-drive ................................. 23 121-123, 240 benchmark ................... 132, 134, 222, 239 binoculars ................................ 107 bipolar .............................. 121, 248 bistatic ............................ 97, 98, 127 Blanche ..................... 198, 199, 222, 232 blank .................................... 100 blind ............................ 125-128, 244 blockages .............................. 84, 93 boron .................................... 62 bounded ....................... 11, 77, 187, 210 break-beam ............................ 13, 16 broadcast .............................. 65, 93 buffer ............................... 115, 116
Index 263 building ..... 95, 164, 185, 186, 193, 194, 202-204, code-division-multiple-access ................. 69 207, 214-216, 232, 233, 244, 250-252, 256, coil ....... 42, 43, 47, 49, 50, 52, 53, 56, 57, 59, 62 258 collapsed ................................ 208 bumper .................................. 127 collimated ............................ 116, 117 bursts ................................... 101 collinear ...................... 75, 165, 199, 233 bus ............................. 116, 126, 254 collision ......97, 107, 125-127, 240, 245, 247, 254 B-field ............................. 49, 51, 58 columnar ................................. 83 B-H curve .............................. 48, 49 compact ............................. 101, 163 C100 .............................. 56, 57, 256 compass ... 31, 45-47, 52-59, 61, 77, 182, 229, 231, calculation .............. 30, 70, 95, 161, 188, 218 calibrated ................. 60, 121, 209, 228, 248 244, 248, 254, 256 compensation ... 24, 57, 69, 142, 150, 157, 223, 240 CALMAN ............................... 171 compliant ..........27, 28, 143, 144, 222, 238, 239 camera .. 99, 109-111, 116, 174, 175, 207-213, 216, complimentary ......................... 17, 159 226-231, 236, 247, 248, 252, 253, 255 composite ..................... 76, 111, 185, 200 camera-calibration ......................... 211 compressible ............................. 138 camphor ................................. 182 CONAC ............................. 166, 225 cantilever ................................. 63 concealed ................................ 134 canyon ............................ 88-91, 258 concentrators ........................... 57, 63 capacitor .......................... 93, 101, 113 conductor .......................... 17, 57, 166 capacity ................................. 185 cone-shaped .......................... 152, 155 CARMEL ......................... 12, 129, 241 congruence ............................... 198 carrier ............19, 66, 73, 76, 77, 123, 174, 193 constant-slope ............................ 148 -phase-differential ....................... 77 constrained .............28, 40, 164, 187, 198, 215 carrying ................................. 134 consumption ........ 24, 47, 52, 53, 55, 59, 93, 100, Cartesian ............................ 199, 203 126, 163, 164 castor ............................... 131, 137 contamination .......................... 92, 179 Caterpillar ................... 176, 178, 225, 255 continuous-wave ............... 66, 114, 115, 121 CCD ............ 110, 111, 174, 175, 207, 227-231 contour .................................. 217 ccw ..................30, 134, 135, 137, 139, 140 contrast .....25, 41, 58, 73, 137, 139, 153, 173, 175- CDMA ................................... 69 177, 183, 196, 207, 211 ceiling ....................... 157, 174, 183, 227 convoy ................................... 76 -mounted ........19, 52, 56, 158, 165, 166, 170 cooperative ............... 102, 108, 114, 163, 222 cells ..................... 58, 188, 197, 231, 248 core-cladding .............................. 40 centroid ............................. 154, 186 Coriolis ................................ 33, 34 cesium-clock .............................. 71 correction .... 30, 46, 57, 60, 76, 139, 141, 143-145, cesium ............................. 71, 72, 76 156, 157, 159, 178, 180, 186-188, 192, 198- chained .................................. 166 200, 232, 238, 239, 242 channel ............14, 15, 47, 51, 67, 78, 155, 224 correlation ........71, 175, 188, 192, 216, 232, 254 checksum ................................ 157 correspondence ... 27, 110, 185, 187, 189, 199, 209, chemical .............................. 62, 182 211, 213, 214, 216, 227, 248, 253 chip ...................... 15, 58, 71, 72, 76, 244 covariance ............... 194, 200, 201, 218, 232 chirp ..................................... 99 cranes ................................... 107 CLAPPER ................... 143, 222, 238, 239 crosstalk .................... 38, 96, 97, 123, 158 classification ............. 105, 203, 232, 233, 241 cross-correlation .......................... 192 Class-I .................................. 178 cross-referenced ............................ 66 clean-room ............................. 23, 39 cryogenically .............................. 63 cliffs ................................. 88, 237 cryptographic .............................. 72 closed-loop ................. 15, 35-37, 42, 50, 59 crystal ....................... 54, 60, 61, 71, 182 closed-ring ................................ 51 CT ............................. 119, 163, 258 coalition .................................. 73 current-loop .............................. 108 coarse-to-fine ......................... 175, 216 curvature ................................ 141 coaxial .......................... 114, 116, 118 CW ..............30, 115, 134, 135, 137, 139, 140 code ....... 12, 16, 17, 69, 71-73, 76, 77, 176, 178, C-b<strong>and</strong> ................................... 68 212, 223, 225, 228 daisy .................................... 166 codeless .................................. 77 data-gathering ............................ 108
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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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6.4 Summary .......................
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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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CHAPTER 2 HEADING SENSORS Heading s
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6 42 Part I Sensors for Mobile Robo
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CHAPTER 5 ODOMETRY AND OTHER DEAD-R
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132 Part II Systems and Methods for
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R e t r o r e f l e c t i v e m a r
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CHAPTER 8 MAP-BASED POSITIONING Map
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Page 212 and 213: 212 Part II Systems and Methods for
Page 218 and 219: 218 Appendices, References, Indexes
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Page 222 and 223: Systems-at-a-Glance Tables Odometry
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Page 228 and 229: Systems-at-a-Glance Tables Landmark
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Page 236 and 237: REFERENCES 1. Abidi, M. and Chandra
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Page 246 and 247: 246 References 156. Janet, J., Luo,
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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
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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,
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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
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