Where am I? Sensors and Methods for Mobile Robot Positioning

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254 References 278. Turpin, D.R., 1986, “Inertial Guidance: Is It a Viable Guidance System for AGVs” 4th International Conference on AGVs (AGVS4), June, pp. 301-320. 279. Udd, E., 1985, “Fiberoptic vs. Ring Laser Gyros: An Assessment of the Technology.” in Laser Focus/Electro Optics, Dec. 280. Udd, E., 1991, “Fiberoptic Sensors Based on the Sagnac Interferometer and Passive Ring Resonator.” in Fiber Optic Sensors: An Introduction for Engineers and Scientists, E. Udd, Ed., John Wiley and Sons, Inc., New York, pp. 233-269. 281. Vaganay, J., Aldon, M.J., and Fournier, A., 1993a, “Mobile Robot Attitude Estimation by Fusion of Inertial Data.” Proceedings of IEEE International Conference on Robotics and Automation, Atlanta, GA, May 10-15, pp. 277-282. 282. Vaganay, J., Aldon, M.J., and Fournier, A., 1993b, “Mobile Robot Localization by Fusing th Odometric and Inertial Measurements.” 5 Topical Meeting on Robotics and Remote Systems, Knoxville, TN, Vol. 1, Apr., pp. 503-510. 283. Vestli, S.J., Tschichold-Gürman, N., Adams, M., and Sulzberger, S., 1993, “Amplitude Modulated Optical Range Data Analysis in Mobile Robotics.'' Proceedings of the 1993 IEEE International Conference on Robotics and Automation, Atlanta, GA, May 2-7, pp 3.243 - 3.248. 284. Vuylsteke, P., Price, C.B., and Oosterlinck, A., 1990, “Image Sensors for Real-Time 3D Acquisition, Part 1.” Traditional and Non-Traditional Robotic Sensors, T.C. Henderson, Ed., NATO ASI Series, Vol. F63, Springer-Verlag, pp. 187-210. 285. Wax, S.I. and Chodorow, M., 1972, “Phase Modulation of a Ring-Laser Gyro - Part II: Experimental Results,” IEEE Journal of Quantum Electronics, March, pp. 352-361. 286. Weiß, G., Wetzler, C., and Puttkamer, E., 1994, “Keeping Track of Position and Orientation of Moving Indoor Systems by Correlation of Range-Finder Scans.” 1994 International Conference on Intelligent Robots and Systems (IROS’94), Munich, Germany, Sept. 12-16, pp. 595-601. 287. Wienkop, U., Lawitzky, G., and Feiten, W., 1994, “Intelligent Low-cost Mobility.” 1994 International Conference on Intelligent Robots and Systems (IROS '94). Munich, Germany, Sept. 12-16, pp. 1708-1715. 288. Wiley, C.M., 1964, “Navy Tries Solid-State Compass.” Electronics, Feb. 14, pp. 57-58. 289. Wilkinson, J.R., 1987, “Ring Lasers.” Progress in Quantum Electronics, edited by Moss, T.S., Stenholm, S., Firth, W.J., Phillips, W.D., and Kaiser, W., Vol. 11, No. 1, Pergamon Press, Oxford. 290. Wolf, P.R., 1983, “Elements of Photogrammetry.” McGraw-Hill, New York, second edition. 291. Woll, J.D., 1993, “A Review of the Eaton VORAD Vehicle Collision Warning System.” Reprinted from International Truck and Bus Meeting and Exposition, Detroit, MI, SAE Technical Paper Series 933063, ISSN 0148-7191 Nov., pp. 1-4.
References 255 292. Wong, A. and Gan, S., “Vision Directed Path Planning, Navigation, and Control for An Autonomous Mobile Robot.” Proceedings of the 1992 SPIE Conference on Mobile Robots, Boston, MA, Nov. 18-20, pp. 352-360. 293. Woodbury, N., Brubacher, M., and Woodbury, J.R., 1993, “Noninvasive Tank Gauging with Frequency-Modulated Laser Ranging.” Sensors, Sept., pp. 27-31. 294. Wormley, S., 1994, “A Little GPS Background.” Internet message, swormley@ thrl.cnde.iastate.edu to Newsgroup sci.geo.satellite-nav, March 15. 295. Wun-Fogle, M. and Savage, H.T., 1989, “A Tunneling-tip Magnetometer.” Sensors and Actuators, Vol. 20, pp. 199-205. 296. Yuan, J.S.C., 1989, “A General Photogrammetric Method for Determining Object Position and Orientation.” IEEE Transaction on Robotics and Automation, vol. 5, no. 2, pp 129-142. Cited Product Information from Commercial Companies 297. ACUITY - Acuity Research, POC: Bob Clark, 20863 Stevens Creek Blvd, Cupertino, CA 95014-2115, 415-369-6782. 298. ADL - Applied Design Laboratories, P. O. Box 2405, Grass Valley, CA 95945, 916-272-8206 299. AECL - Atomic Energy of Canada Ltd., Sheridan Research Park, 2251 Speakman Drive, Mississauga, Ontario, L5K 1B2, Canada. POC Narindar Baines, 905-823-9060 300. ANDREW Andrew Corporation, 10500 W. 153rd Street, Orland Park, IL 60462. 708-349- 5294 or 708-349-3300. 301. BENTHOS - Benthos, Inc., 49 Edgerton Drive, North Falmouth, MA 02556-2826,508-563-1000. 302. CATERPILLAR - Caterpillar Industrial, Inc., Product Literature, SGV-1106/91, Caterpillar Self Guided Vehicle Systems, 5960 Heisley Rd, Painesville, OH 44077, 216-357-2246. 303. CONTROL - Control Engineering Company, 8212 Harbor Spring Road, Harbor Spring, MI 49740, 616-347-3931. 304. CYBERMOTION - Cybermotion, Inc., 115 Sheraton Drive, Salem, VA 24153, 703-562-7626. 305. CYBERWORKS - Cyberworks, Inc., "Camera Vision Robot Position and Slippage Control System." Product Literature, 31 Ontario Street, Orillia, Ontario, L3V 6H1 Canada, 705- 325-6110. 306. DBIR - Denning Branch International Robotics, 1401 Ridge Avenue, Pittsburgh PA 15233, 412-322-4412. 307. DINSMORE - Dinsmore Instrument Company, Product Literature, 1490 and 1525 Magnetic Sensors, Flint, MI, 313-744-1330. 308. ERIM - Environmental Research Institute of Michigan, Box 8618, Ann Arbor, MI 48107, 313- 994-1200.
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7KH8QLYHUVLW\RI0LFKLJDQ Where am I
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Acknowledgments This research was s
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INTRODUCTION Leonard and Durrant-Wh
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Part I Sensors for Mobile Robot Pos
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CHAPTER 2 HEADING SENSORS Heading s
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CHAPTER 5 ODOMETRY AND OTHER DEAD-R
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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 236 and 237: REFERENCES 1. Abidi, M. and Chandra
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