Sensors and Methods for Mobile Robot Positioning

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7KH8QLYHUVLW\RI0LFKLJDQ Where am I? Sensors and Methods for Mobile Robot Positioning by 1 2 3 J. Borenstein , H. R. Everett , and L. Feng Contributing authors: S. W. Lee and R. H. Byrne Edited and compiled by J. Borenstein April 1996 Prepared by the University of Michigan For the Oak Ridge National Lab (ORNL) D&D Program and the United States Department of Energy's Robotics Technology Development Program Within the Environmental Restoration, Decontamination and Dismantlement Project 1) Dr. Johann Borenstein 2) Commander H. R. Everett 3) Dr. Liqiang Feng The University of Michigan Naval Command, Control, and The University of Michigan Department of Mechanical Ocean Surveillance Center Department of Mechanical Engineering and Applied Mechanics RDT&E Division 5303 Engineering and Applied Mechanics Mobile Robotics Laboratory 271 Catalina Boulevard Mobile Robotics Laboratory 1101 Beal Avenue San Diego, CA 92152-5001 1101 Beal Avenue Ann Arbor, MI 48109 Ph.: (619) 553-3672 Ann Arbor, MI 48109 Ph.: (313) 763-1560 Fax: (619) 553-6188 Ph.: (313) 936-9362 Fax: (313) 944-1113 Email: Everett@NOSC.MIL Fax: (313) 763-1260 Email: johannb@umich.edu Email: Feng@engin.umich.edu Please direct all inquiries to Johann Borenstein.
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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
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52 Part I Sensors for Mobile Robot
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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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REFERENCES 1. Abidi, M. and Chandra
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238 References 31. Boltinghouse, S.
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240 References MOBOT-IV.” Proceed
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242 References 90. Dahlin, T. and K
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244 References 120. Fisher, D., Hol
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246 References 156. Janet, J., Luo,
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248 References 187. Larsson, U., Ze
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250 References 220. Nolan, D.A., Bl
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252 References 249. Sanders, G.A.,
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254 References 278. Turpin, D.R., 1
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256 References 309. EATON - Eaton-K
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258 References 349. SPSi - Spatial
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260 References 380. MacKenzie, P. a
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262 Index AC ..............47, 59,
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264 Index Datums ..................
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266 Index glass ...................
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268 Index lateral-post ............
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270 Index NPN .....................
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272 Index signal ..... 17, 31, 38,
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274 Index Abidi ...................
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276 Index Kak .....................
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278 Index Weiman ..................
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280 Index Video Index This CD-ROM c
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282 Index Paper 52 Paper 53 Paper 5
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