Where am I? Sensors and Methods for Mobile Robot Positioning

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264 Index Datums .................................. 166 double-sided .............................. 158 DC .....15, 33, 49, 51, 57-60, 81, 82, 179, 249, 252 dead-reckoning .... 17, 19, 21, 28, 45, 54, 130, 131, downlink ................................ downloading ............................... 158 71 133, 137, 146, 167, 179, 195, 203, 222, 228, drift ..... 17, 30-34, 42-44, 56, 59, 77, 145-148, 223 degradation ............................. 23, 73 degree-of-freedom ............. 25-28, 46, 56, 239 depth ...............14, 36, 78, 111, 200, 202, 261 derivation ................................ 141 Desert Storm .............................. 73 detection ....... 11, 41, 59, 69, 70, 95-97, 100, 101, -axis ...... 32, 37, 38, 43, 51, 52, 56, 58, 59, 61, 104-106, 109-116, 118, 119, 125-128, 155- 119, 147, 169, 201, 236 157, 159-161, 163, 166, 173-177, 183, 186, -frequency .............. 65, 77, 112, 121, 159 188, 200, 202, 231, 236, 243, 245, 246, 258, duty ........................... 24, 99, 117, 127 260 dynamic .......11, 34, 42, 78-84, 88, 90-92, 94, 96, 118, 146, 197, 231 earth ................17, 30-32, 45-47, 70-72, 245 121, 126, 158, 160, 172, 225, 226, 228 -based ..... 11, 13, 15, 17, 23, 30, 58, 65, 68, 69, detection/gating ........................... 111 detector ........ 16, 35, 96, 101, 103-105, 107, 112, DGPS ............................. 75-77, 249 71, 76, 95, 96, 101, 109, 112, 115, 121, 125, -capable ............................... 76 146, 150, 163, 172-174, 183-188, 194-199, diagnostic ................................. 71 203, 206, 207, 231, 232, 236, 242, 248, 252, diaphragm ................................ 99 259, 260 dielectric ................................. 126 EEPROM .......................... 57, 92, 126 differential .....14, 19, 21, 23-25, 27, 28, 49, 75-77, efficiency ................................ 143 82, 92-94, 112, 114, 132-134, 137-139, 179, EKF ........................ 147, 148, 230, 231 -capable ............................... 76 -drive ......19, 21, 23-25, 27, 28, 132-134, 138, differentially .......................... 138, 143 -steered ............................. 21, 22 digital ........ 13, 14, 33, 35, 42, 44, 47, 54-57, 66, elongation ................................. 62 69, 98, 101, 103, 108, 109, 116, 126, 213- emergency ................................ 67 215, 244 emission .......................... 38, 110, 155 diode ........ 41, 101, 103, 104, 107, 115, 117, 120, emitter ................... 17, 103, 117, 158, 159 125, 241, 252 emitter/detectors ...................... 158, 159 DIP .................................. 46, 167 enable/disable ............................ 103 dipoles ................................ 60, 61 encoder ......... 13-17, 20, 21, 24, 25, 28, 35, 103, direct-memory-access ...................... 116 117, 130, 131, 138, 139, 143-145, 166, 222, distinguishable ........159, 175, 184, 204, 209, 210 238, distort ................................... 191 243, 245 distribution ..... 23, 54, 86, 134, 139, 181, 191, 197, encoding ....................... 13, 16, 109-111 disturbance ....................... 136, 146, 222 dither ................................. 38, 73 divergence ............... 107-109, 118, 119, 163 dock ................................ 158, 159 docking ....................... 15, 158, 159, 168 dock-mounted ............................ 158 domain .................................. 212 doorway ............................. 120, 175 DOP ................... 75, 79-81, 83, 86-88, 91 doppler ............. 17-19, 73, 114, 124-126, 223 dots ................................. 176, 198 dot-matrix ................................. 15 238, 239, 243, 247, 253 drive ... 16, 19-28, 49-51, 53, 54, 62, 132-134, 137- 139, 143, 179, 222, 226, 231-233, 237-239, 243, 244, 251, 255-258 -motor ............................. 15, 160 DSP .................................... 126 dual 181, 182, 222, 231, 243, 249 elasticity ............................... 60, 63 electro -optics ................... 101-106, 257, 258 222, 238, 239, 243, 244 optical ............................ 115, 164 electrostatic ..................... 62, 63, 99, 257 elimination ............................... 166 210, 216 encryption ................................ 72 endurance ................................ 194 end-effector .............................. 156 engine .... 22, 56, 67, 78-80, 83-88, 90-92, 224, 256 ENSIGN .................................. 73 envelope ...................... 96, 103, 155, 258 Ephemeris .......................... 71, 73, 93 equator .......................... 31, 46, 58, 70 error ...... 10, 17, 30, 44, 46, 53, 54, 59, 66, 72-77, 80, 82-88, 91, 95, 96, 106, 121, 130-149, 152-156, 162, 171, 179, 180, 185-187, 194, 196-199, 201, 203, 206, 210, 216, 218, 222, 226-228, 231-233, 259
Index 265 -inducing .............................. 59 ESP ................116, 117, 121, 122, 189, 256 estimation ........ 11, 76, 77, 91, 97, 130, 131, 148- flywheel .................................. 30 150, 157, 175, 185, 187, 189, 197, 202, 203, FM .................... 42, 76, 95, 123, 124, 165 213-218, 227, 228, 232, 236, 240, 241, 245, FMCW .......................... 125, 127, 128 247, 252-254, 261 fog ..................................... 178 etched ........ 13, 62, 125, 126, 153, 154, 187, 232, foliage ........................ 77, 79, 88, 90, 93 233, 244 force ..... 23, 26, 27, 30, 34, 46-49, 52, 71, 73, 138, -array ............................ 125, 126 220, 251 Ethernet ................................. 119 forward-looking ............................ 17 ETL ..................................... 77 FP-G154 ................................. 33 Euclidean ................................ 199 fractional ............................ 114, 155 Evaluation ............. 4, 51, 57, 77-79, 240, 243 free excitation ..................... 47, 49-53, 59, 63 -ranging .................. 115, 163, 178, 246 exclusive-or .............................. 113 -running ............................... 97 experimental ..... 92, 134, 138, 143-145, 150, 171, -space ................................ 199 181, 189, 194, 195, 201, 204, 253, 254 frequency experimenter ......................... 132, 133 -modulated .................. 42, 95, 123, 255 extrinsic ......................... 208, 211, 213 -modulation ........................... 125 eye ........ 103, 107, 116, 120, 163, 164, 174, 227 -to-voltage ............................ 118 -safe ................. 103, 116, 120, 163, 164 Fresnel .................................. 116 Falcon ................................ 68, 257 frictional .................................. 24 fan-shaped ....................... 103-105, 163 fringe .................................... 41 fast-growing .......................... 143, 144 front feature-based ............. 183, 187, 194, 195, 232 -mounted ........19, 52, 56, 158, 165, 166, 170 feature-level ...................... 186, 204, 233 -surfaced .............................. 119 feature .....126, 157, 159, 164, 174, 181, 183, 185- 188, 193-195, 204, 208, 211, 212, 215, 216, fuel ...................................... full-duplex ............................... 67 158 228-233, 237, 253 fusing .................... 46, 149, 216, 218, 254 ferrite ............................. 57, 58, 180 fusion ...69, 148, 185, 186, 204, 206, 216, 218, 228, ferromagnetic .............................. 60 233, 236, 249, 254, 260 ferrous ................................... 49 GaAlAs ................................. 115 fertilizer .................................. 17 GaAs ................................... 103 FET .................................... 121 gain ...............11, 38, 100, 113, 116, 117, 121 fiber ........10, 32, 34-36, 39-44, 61, 62, 108, 146, 148, 150, 223, 236, 243, 247, 248, 250, 252, Gallium .................................. gamma ................................... 92 45 254 gasoline .................................. 22 -optic .........10, 32, 34-36, 39, 41-43, 61, 62, gate ..................................... 113 -optically ............................. 108 fiberglass ................................ 104 field-of-view .......................... 110, 161 filter ..... 56, 76, 107, 116, 123, 147, 148, 150, 181, -gathering .......................... 50, 108 fluxgate .... 45, 47-49, 51-57, 59, 222, 223, 236, 250 146, 150, 236, 237, 240, 248 gated ................................ 103, 110 gateways ................................. 204 gating ..................... 47-49, 110, 111, 250 Gauss .........................45, 57-59, 61-63 Gaussian ......................... 210, 216, 218 210, 216, 218, 228, 230-232, 241 GDOP ............................. 75, 76, 87 Fischler .............................. 212, 243 GE9300-C ................................ 33 fixed gear ......................... 15, 20, 23, 24, 179 -length ............................ 40, 135 -drive ......19, 21, 23-25, 27, 28, 132-134, 138, -location .... 66-68, 96, 154, 156, 157, 165, 166, 222, 238, 239, 243, 244 169, 260 generator ................................. 59 -reference ...................... 65, 222, 243 Genghis ................................. 155 flexible ................................ 92, 93 geodetic ............................... 65, 77 floating ............................. 46, 56, 93 geographical ............................... 45 fluctuating ................................ 54 geomagnetic .................45-47, 51, 52, 57-59 fluid .................................. 46, 56 gimbal-mounted ......................... 52, 56 flux .......................... 45-52, 57, 58, 63 gimbal .......................... 31, 46, 52, 56
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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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Excitation actuator Metglas reed Tu
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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 214 and 215: 214 Part II Systems and Methods for
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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 226 and 227: Systems-at-a Glance Tables Beacon N
Page 228 and 229: Systems-at-a-Glance Tables Landmark
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Page 236 and 237: REFERENCES 1. Abidi, M. and Chandra
Page 238 and 239: 238 References 31. Boltinghouse, S.
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Page 246 and 247: 246 References 156. Janet, J., Luo,
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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 262 and 263: 262 Index AC ..............47, 59,
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
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