Where am I? Sensors and Methods for Mobile Robot Positioning

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272 Index signal ..... 17, 31, 38, 42, 49, 50, 58-60, 62, 63, 66, Starguide ................................. 47 67, 69-72, 77, 79, 92, 95, 96, 100, 101, 104, step-index ................................. 40 106, 112, 114, 116-118, 121-124, 126, 127, Stereo ...... 115, 197, 203, 211, 215-217, 231, 237, 146, 155, 160, 166, 181, 182, 223, 261 249 -coding ................................ 71 stiction ................................... 53 -processing ............................. 58 stiffness .................................. 60 -to-noise ................. 70, 79, 96, 116, 146 STROAB .................... 166, 167, 169, 225 signatures ................................ 174 structured-light ............................ 158 silicon ...................... 58, 59, 62, 246, 248 -based ..... 11, 13, 15, 17, 23, 30, 58, 65, 68, 69, super-luminescent .......................... suppression .............................. 41 107 71, 76, 95, 96, 101, 109, 112, 115, 121, 125, surveillance .........2, 17, 181, 241, 242, 245, 259 146, 150, 163, 172-174, 183-188, 194-199, swing-needle .............................. 46 203, 206, 207, 231, 232, 236, 242, 248, 252, synchros .................................. 13 259, 260 synchro-drive ............... 23, 25, 138, 222, 244 silk ...................................... 46 TACAN ................................. 159 simulation ....... 138, 144, 148, 153, 154, 210, 222, TACTIC ............................... 66, 67 226, 247 TAD ..................................... 68 single telemetry ........................ 66, 67, 71, 168 -axis .. 32, 37, 38, 43, 51, 52, 56, 58, 59, 61, 119, tele-operated ........................ 23, 28, 29 147, 169, 201, 236 temperature-nulled .......................... 57 -board ................................. 12 terrestrial ................................. 43 -channel ........................ 14, 78, 224 thermal .............................. 181, 234 -DOF ..................... 27, 102, 119, 156 three-wheel ............................ 25, 26 -echo ............................. 100, 101 tilt-compensated ........................... 146 -frequency .............. 65, 77, 112, 121, 159 -mode .............. 40, 79, 83, 86, 88, 91, 101 time -division-multiple-access .............. 69, 155 -word ................................ 116 -measurement ... 65, 71, 114, 115, 123, 125, 155, singularities .............................. 157 157 sink ...................................... 47 -of-arrival ................ 65, 66, 72, 155, 156 six-legged ............................ 115, 240 -of-flight ............... 95, 106, 114, 156, 175 skid-steer ................................. 28 -phase .............................. 53, 77 sky-wave ................................. 66 -stamped ............................... 69 slippage ... 17, 18, 21, 23, 24, 26-28, 130, 131, 137- -tagged ................................ 69 SLNM .................................. 181 slow-growing ............................. 143 smaller ..... 24, 39, 82, 99, 104, 136, 148, 149, 180, small-area ................................. 77 toroidal ............................. 51, 53, 56 small-diameter ............................. 39 tractable ................................. 215 SN28827 ............................. 99, 100 tractor-trailer ......................... 144, 145 solenoidal .............................. 50, 62 trailer ...... 138, 139, 144, 145, 222, 238, 243, 248 solid-state ............42, 43, 55, 57, 146, 147, 254 trajectory ............133, 140, 150, 196, 215, 216 sonar ........ 97, 101, 159, 177, 178, 186, 195, 200, Trak-Star .............................. 18, 19 202, 204, 205, 226, 230-232, 237, 239, 244- translation-invariant ........................ 186 sonobuoys ................................ 57 space-stable ............................... 31 Spatial ...... 53, 170, 171, 185, 186, 204, 207, 225, spiral ................................... 119 spread-spectrum ..................... 69, 70, 155 SPSi .................................... 258 SQUID ................................... 63 standing-wave ............................. 35 139, 227, 255 -to-amplitude-conversion ................ 101 -variant ........................... 181, 218 -walk ................................. 96 timer .................................... 118 193, 200, 206 topological ........11, 187, 196, 197, 203, 204, 247 249, 251, 257 translation ... 130, 162, 186, 191, 192, 211-215, 241, 244 transmitter-receiver ............. 68, 125, 152, 155 transponder ....................... 68, 154, 158 233, 258, 260 TreeSense ............................ 103, 104 triangulation ...... 95, 151-153, 160, 163, 165, 172, 177, 178, 226, 241 tricycle ................... 21, 138, 179, 230, 232 trinocular ................................ 216 triplets .............................. 211, 228
Index 273 tripods .............................. 161, 170 true-north ................................. 32 tunneling .......................... 61-63, 255 tunneling-tip ........................ 61-63, 255 two-dimensional .... 66, 79, 110, 169, 186, 209, 211, visualizes ................................ 133 213, 214 VME ........................... 116, 174, 229 two-wheel ................................. 27 -based ..... 11, 13, 15, 17, 23, 30, 58, 65, 68, 69, ultrasonic ........ 12, 18, 19, 65, 95-100, 113, 151, 71, 76, 95, 96, 101, 109, 112, 115, 121, 125, 154-159, 172, 178, 179, 189, 193, 194, 199- 146, 150, 163, 172-174, 183-188, 194-199, 202, 216, 226, 230, 235, 237, 239, 241-243, 203, 206, 207, 231, 232, 236, 242, 248, 252, 247, 248, 251, 256, 257, 260 259, 260 ultrasound ......................... 19, 154, 207 UMBmark ............... 134-137, 139, 141, 222 unibody ................................... 38 USMC ................................... 23 vacuum ................................ 39, 41 variable .......................... 58, 111, 216 variable-width ............................. 58 variance ............80, 83, 84, 121, 200, 210, 232 VAX ............................ 116, 230, 231 VDOP ................................ 75, 87 very-large-area ............................ 166 vessel ................................. 13, 46 VH1 ..................................... 60 VH2 ..................................... 60 VHF ..................................... 67 vibrating ............................ 33, 34, 63 vibration ............... 16, 34, 42, 52, 71, 99, 161 vidicon .................................. 109 vision .. 109-111, 115, 174-177, 183, 186, 187, 203- 205, 207, 210, 212-217, 226-231, 233, 236, 237, 240, 241, 244-248, 252, 253, 255, 261 vision-based ...................... 174, 207, 236 visual ...... 126, 167, 188, 204, 207, 208, 213-216, 230, 249 visualization ............................... 35 -bus ................................. 116 volatile .................... 14, 57, 181, 182, 234 waveform ......................... 99, 117, 124 waveguide ............................. 39, 40 wavelength ........ 35, 37, 40, 41, 43, 72, 102-104, 106, 109, 112, 114, 115, 118, 119, 125, 155, 157, 163 wheel ....... 10, 13, 15-17, 19-28, 30, 44, 130-133, 136, 138-143, 179, 222, 233, 250 -slippage .............................. 131 wheelbase ......20, 24, 131-133, 137, 140, 142, 222 wideband ................................ 117 workspace ...... 154, 163, 176, 203, 204, 233, 253 world-modeling ........................... 189 worst-case .................... 75, 107, 118, 131 Y-code ................................ 76, 77
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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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218 Appendices, References, Indexes
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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
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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 262 and 263: 262 Index AC ..............47, 59,
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 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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