Where am I? Sensors and Methods for Mobile Robot Positioning

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280 Index Video Index This CD-ROM contains video clips prepared for two different playback sizes: 320×240 and 240×180. Users of single- or double-speed CD-ROM players and entry- or mid-level computers should select video clips by clicking the green "240×180" text in the boxes below. Users of quad-speed or faster CD-ROM players and high-end computers should click the red "320×240" text in the boxes below to view the associated video clips. Notes: L In order to close a video window after viewing you need to hit the "Escape" key (or equivalent key on keyboards that don't have an "Escape" key). L For smoother playback close all other open applications before playing back video. Atomic Energy of Canada (AECL): "ARK" System Duration: 3:42 minutes Transition Research Corporation (TRC): a. LightRanger rotating/nodding lidar b. Vision-based landmark detection Duration: 4:28 minutes 240x180 360x240 240x180 360x240 The University of Michigan: Multi-Degree-of-Freedom vehicle with compliant linkage. Duration: 3:15 minutes The University of Michigan: Internal Odometry Error Correction with the CLAPPER. Duration: 4:24 minutes 240x180 360x240 240x180 360x240 Spatial Positioning Systems: MTI: Odyssey laser beacon posi- CONAC laser beacon positiontioning system ing system, applied in Scooter Duration: 2:23 minutes experiment Duration: 3:27 minutes 240x180 360x240 240x180 360x240 Windsor Industries and Denning Branch International Robotics: RoboScrub Duration: 2:00 minutes 240x180 360x240 Learn about video To learn some more about digital video and how the video clips on this CD-ROM were produced, click the "Learn about video" icon.
Index 281 Index to Full-length Papers Included on This CD The papers listed below are included on this CD in full length. To view a paper, click “Paper #.” You will find that only papers with “Johann Borenstein” as either author or co-author are listed. The reason for not including papers by other authors is Copyright. When an author submits a paper to a journal or conference, he/she transfers copyright to the publisher and the paper may be reprinted only with permission by the publisher. We negotiated with IEEE to obtain the rights to re-print certain papers. The result: IEEE charges $25 per page for the permission to reprint papers that were originally published in IEEE journals or at IEEE conferences. This cost is inhibitive for our purposes. However, we are allowed to re-print at no cost papers that we authored ourselves. Paper 01 Paper 02 Paper 10 Borenstein, J. and Koren, Y., 1985, "A Mobile Platform For Nursing Robots." IEEE Transactions on Industrial Electronics, Vol. 32, No. 2, pp. 158-165. Borenstein, J. and Koren, Y., 1987, "Motion Control Analysis of a Mobile Robot." Transactions of ASME, Journal of Dynamics, Measurement and Control, Vol. 109, No. 2, pp. 73-79. Borenstein, J. and Koren, Y., 1989, "Real-time Obstacle Avoidance for Fast Mobile Robots." IEEE Transactions on Systems, Man, and Cybernetics, Vol. 19, No. 5, Sept./Oct., pp. 1179-1187. Paper 16 Borenstein, J. and Koren, Y., 1991, "The Vector Field Histogram Fast Obstacle-Avoidance for Mobile Robots." IEEE Journal of Robotics and Automation, Vol. 7, No. 3., June 1991, pp. 278-288. Paper 18 Paper 30 Paper 32 Paper 34 Borenstein, J, and Koren, Y., 1991, "Histogramic In-motion Mapping for Mobile Robot Obstacle Avoidance." IEEE Journal of Robotics and Automation, Vol. 7, No. 4, 1991, pp. 535-539. Borenstein, J. and Raschke, U., 1992, "Real-time Obstacle Avoidance for Non-Point Mobile Robots." SME Transactions on Robotics Research. Vol. 2, pp. 2.1-2.10, 1992. Borenstein, J. and Koren, Y., 1995, "Error Eliminating Rapid Ultrasonic Firing for Mobile Robot Obstacle Avoidance." IEEE Transactions on Robotics and Automation, February 1995, Vol. 11, No. 1, pp 132-138. Borenstein, J., 1995, "Control and Kinematic Design for Multi-degree-of-freedom Mobile Robots With Compliant Linkage." IEEE Transactions on Robotics and Automation, February 1995, Vol. 11, No. 1, pp. 21-35 Paper 35 Borenstein, J., 1992, "Compliant-linkage Kinematic Design for Multi-degree-of-freedom Mobile Robots ." Proceedings of the SPIE Symposium on Advances in Intelligent Systems, Mobile Robots VII, Boston, MA, Nov. 15-20, 1992, pp. 344-351. Paper 48 Paper 49 Borenstein, J., 1995, "Internal Correction of Dead-reckoning Errors With the Compliant Linkage Vehicle." Journal of Robotic Systems, Vol. 12, No. 4, April 1995, pp. 257-273. Borenstein, J., 1994b, "The CLAPPER: a Dual-Drive Mobile Robot with Internal Correction of Dead-reckoning Errors." Proceedings of the 1994 IEEE International
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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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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
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Systems-at-a-Glance Tables Odometry
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Systems-at-a-Glance Tables Global N
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Systems-at-a Glance Tables Beacon N
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Systems-at-a-Glance Tables Landmark
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Page 236 and 237: REFERENCES 1. Abidi, M. and Chandra
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