Where am I? Sensors and Methods for Mobile Robot Positioning

More documents

Recommendations

Info

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 bandwidth .................... 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-band ................................... 68 212, 223, 225, 228 daisy .................................... 166 codeless .................................. 77 data-gathering ............................ 108
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:
Page 176 and 177:
Page 178 and 179:
R e t r o r e f l e c t i v e m a r
Page 180 and 181:
Page 182 and 183:
Page 184 and 185:
CHAPTER 8 MAP-BASED POSITIONING Map
Page 186 and 187:
Page 188 and 189:
Page 190 and 191:
Page 192 and 193:
Page 194 and 195:
Page 196 and 197:
Page 198 and 199:
Page 200 and 201:
Page 202 and 203:
Page 204 and 205:
Page 206 and 207:
Page 208 and 209:
Page 210 and 211:
Page 212 and 213: 212 Part II Systems and Methods for
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 224 and 225: Systems-at-a-Glance Tables Global N
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 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?