Where am I? Sensors and Methods for Mobile Robot Positioning

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266 Index glass ...................... 13, 37, 39, 40, 58, 62 -ceramic ............................... 37 -epoxy ................................ 58 global ........ 11, 65, 69, 70, 72, 76, 151, 153, 164, heading .... 15, 21, 22, 24, 30, 45-47, 53, 54, 57, 58, 176, 177, 184, 187-189, 196, 198, 199, 203, 66, 80, 143, 144, 148, 150, 153, 159, 163- 206, 222, 223, 229, 232, 233, 242, 244, 246, 166, 169, 187, 214, 247, 253 249, 252 helicopter ......................... 33, 103, 258 globe .................................. 31, 46 glycerine .................................. 46 GMR .................................... 59 gold-film .................................. 63 GPS .... 65, 69-88, 90-92, 151, 154, 224, 236, 241, GPS/INS ............................. 76, 245 gravitational ....................... 34, 146, 251 gravity ..................... 21, 32, 42, 135, 146 grid ...... 66, 67, 186, 188, 189, 196-199, 203, 204, high 231-233, 250 -accuracy .............. 33, 151, 154, 156, 242 -based ..... 11, 13, 15, 17, 23, 30, 58, 65, 68, 69, -end ............................. 145, 161 71, 76, 95, 96, 101, 109, 112, 115, 121, 125, -frequency .............. 65, 77, 112, 121, 159 146, 150, 163, 172-174, 183-188, 194-199, -performance ........................... 38 203, 206, 207, 231, 232, 236, 242, 248, 252, -permeability ........................... 63 259, 260 -power ............................. 57, 65 -map ............................. 198, 199 grill ..................................... 125 -mounted ........19, 52, 56, 158, 165, 166, 170 ground .....17-19, 21, 22, 65, 66, 68-71, 73, 81, 83, -sensitivity ............................. 61 131, 138, 139, 145, 236, 245, 253, 259 -shock ................................. 16 -based ..... 11, 13, 15, 17, 23, 30, 58, 65, 68, 69, -speed ................ 14, 16, 18, 69, 101, 146 71, 76, 95, 96, 101, 109, 112, 115, 121, 125, -temperature ............................ 16 146, 150, 163, 172-174, 183-188, 194-199, -to-low ............................... 100 203, 206, 207, 231, 232, 236, 242, 248, 252, -tolerance .............................. 39 259, 260 highway ................ 88, 90, 91, 105, 167, 256 -speed ................ 14, 16, 18, 69, 101, 146 histogram .................... 189-192, 197, 238 -wave ..... 14, 35, 49, 59, 60, 66, 113-115, 117, histogramic ........................ 86, 232, 238 121, 125 HMMWV ................................. 23 grounding ............................ 121, 123 hobbyists ................................. 32 guidance .... 165, 180, 223, 227, 237, 241, 244, 245, homing ................................... 15 248-251, 253, 254, 259-261 horizon ........................ 66, 83, 178, 225 gyro .........30-42, 44, 55, 56, 146-150, 223, 229, hospitals ............................. 173, 242 236, 237, 240, 254 host ..................57, 116, 126, 166, 167, 230 gyrocompass .................... 31, 32, 55, 179 hostile .................................... 73 GyroEngine ........................... 33, 223 Hough ............................... 176, 228 GyroPoint ................................. 33 household ................................ 136 gyroscope ... 30-34, 43, 44, 147, 148, 223, 241, 247, humidity .......................... 96, 155, 157 Gyrostar ................... 33, 34, 147, 148, 223 hairpin .................................. 168 Hall .........45, 47, 57-59, 233, 237, 240, 248, 259 -effect ..................... 19, 45, 47, 57-59 halogen .............................. 181, 234 handshake ................................. 16 hand-held ............................ 170, 225 hard-wired ........................... 103, 155 harmonic .............................. 51, 52 hazardous ......................... 65, 126, 237 HCTL ................................. 15, 16 He ...................52, 107, 118, 160, 199, 210 helium-neon ............................... 36 HelpMate ................................. 16 hemisphere ................................ 30 hemispherical ............................. 103 HERMIES-III ..................... 26, 250, 251 244, 245, 247, 255, 256 heterodyne ............................... 118 heterodyning .............................. 112 heterogeneous ........................ 186, 230 heuristic ................................. 199 -precision .............................. 32 -pulse-repetition-rate .................... 103 -resolution .................. 17, 60, 179, 250 248, 252 hybrid ................... 131, 155, 169, 175, 179 Hydro ................................... 174 hyperbolic ............................. 65, 66 hysteresis ............................48-50, 87 H-field ................................ 49, 50 IC ................................. 58, 59, 92 iconic ....................... 187, 232, 233, 244 icon-based ............................... 187 IFOG ..................................40-43 illumination .......................... 107, 166
Index 267 image .... 3, 105, 106, 109, 110, 120, 175, 176, 187, 188, 198, 199, 207-209, 211-217, 227, 228, interval ...... 14, 15, 20, 44, 66, 111, 113, 114, 124, 144, 155 232, 233, 243, 244, 247, 248, 252, 253, 259, inter-robot ............................... 155 260 intolerance ................................ 52 -based ..... 11, 13, 15, 17, 23, 30, 58, 65, 68, 69, intrinsic ......................... 208, 209, 211 71, 76, 95, 96, 101, 109, 112, 115, 121, 125, IPEC .................................143-145 146, 150, 163, 172-174, 183-188, 194-199, IR ...................... 174, 225, 227, 229, 230 203, 206, 207, 231, 232, 236, 242, 248, 252, iron ............................. 46-48, 61, 62 259, 260 irregularities ...................... 131, 138, 162 imaginary ........................... 21, 22, 31 J1455 .................................... 99 imbalances ................................ 31 jamming .................................. 70 immobile ................................ 177 K2A ................... 15, 24, 25, 158, 174, 232 immunity ........................... 13, 17, 82 K2A+ ................................... 174 impact ................................ 46, 136 K3A ..................................... 24 Imperial ................................. 165 Kalman ...... 76, 147, 148, 150, 181, 185, 200, 210, impulse .................................. 116 216, 218, 230-232, 239, 241 inaccuracies ................... 96, 130, 190, 203 -filter-based ............................ 76 incline .................................... 21 Kaman ............................ 66, 67, 256 incremetal ................................ 180 kinematic .............19, 137, 138, 143, 238, 239 index ..... 14, 15, 38-40, 43, 57, 166, 232, 235, 250, kinematics ............................... 138 262, 279 KMZ10B ................................. 59 indexed .................................. 166 knife-edge ............................... 222 indium-antimonide ....................... 57, 59 LA ............................. 155, 244, 247 indium-arsenide-ferrite ...................... 58 LabMate ....... 16, 19, 27, 134, 136, 137, 157, 222, indoor .... 24, 46, 65, 67, 70, 97, 131, 166, 169, 171, 227, 228, 230 180, 184, 202, 203, 213, 225, 242, 251, 254, Lambertian ............................... 101 261 landmark ..... 10, 11, 13, 15, 17, 23, 30, 58, 65, 68, indoors ................................ 69 69, 71, 76, 95, 96, 101, 109, 112, 115, 121, induced ................ 21, 36, 42, 52, 62, 71, 121 125, 130, 131, 146, 150, 153, 163, 172-176, inductive .......................... 13, 104, 234 179, 180, 183-188, 194-199, 203, 206, 207, inductor .................................. 51 209, 210, 217, 226-229, 231, 232, 236, 240, inert .................................. 46, 56 242, 248, 249, 252, 259-261 inertia .................................... 31 lane ............................. 104, 105, 258 inertial ......... 10, 15, 17, 30, 31, 34, 35, 77, 145, large-diameter ............................. 24 146, 150, 156, 207, 216, 223, 237, 251, 254 laser ........ 10, 34-39, 41-44, 61, 65, 66, 101-104, infogeometric ....................... 69, 70, 245 107-112, 115-119, 125, 146, 152, 160, 163- infrared ..... 104, 107, 116, 117, 151, 158-160, 163, 167, 169-172, 174-176, 178, 186, 191, 207, 172, 179, 181, 186, 225, 226, 228, 232, 233 216, 223, 225, 226, 229, 230, 232, 233, 236- InGaAs .............................. 101, 104 238, 240, 241, 244, 245, 247-249, 252-255, initialization ........................... 15, 211 257, 258, 261 injecting .................................. 42 -based ..... 11, 13, 15, 17, 23, 30, 58, 65, 68, 69, INS ....................... 76, 77, 145-147, 245 71, 76, 95, 96, 101, 109, 112, 115, 121, 125, insecticides ............................... 103 146, 150, 163, 172-174, 183-188, 194-199, insensitivity ............................... 42 203, 206, 207, 231, 232, 236, 242, 248, 252, instabilities ............................. 14, 38 259, 260 instantaneous .............. 21, 44, 51, 52, 62, 144 -diode ................................ 104 instrument-grade ........................... 99 -energy ............................... 109 Intel ................................ 100, 126 -guided ............................ 66, 176 intelligent ... 105, 153, 163-165, 225, 228, 236-239, -radar ......................... 19, 186, 245 241-243, 246, 247, 249-254, 256, 258, 259 LaserNav ........................ 162, 163, 225 intensifiers ............................... 110 LASERNET ...................... 160-162, 225 intensity ....... 34, 35, 42, 45, 59, 62, 96, 100, 106, 116, 121, 122, 181, 236 latch .................................... latency .................................. 100 146 interferometer ....................... 38, 61, 254 intersection ............................... 153 lateral ....... 22, 24, 30, 63, 66, 143, 144, 160, 177, 178, 180, 227, 233
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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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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 216 and 217: 216 Part II Systems and Methods for
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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 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
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Page 262 and 263: 262 Index AC ..............47, 59,
Page 264 and 265: 264 Index Datums ..................
Page 268 and 269: 268 Index lateral-post ............
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Page 272 and 273: 272 Index signal ..... 17, 31, 38,
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Page 278 and 279: 278 Index Weiman ..................
Page 280 and 281: 280 Index Video Index This CD-ROM c
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