Subject:
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Book on Robot Sensors and Navigation Techniques.
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lugnet.robotics
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Date:
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Mon, 11 Jan 1999 08:26:18 GMT
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nospam-dcchen@pacbell.net+spamcake+-nospam
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1725 times
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Thanks to Carl Schaefer for posting the URL for the Robotics Reference
entitled: Where am I?
Sensors and Methods for
Mobile Robot Positioning
by
J. Borenstein , H. R. Everett , and L. Feng
I have looked into the Table of Contents and have begun reading it. It
is indeed a *must have* for the budding hobby/amateur Robot
builder...er...me that is. The URL is as follows for those who missed
it the first time:
http://www-personal.engin.umich.edu/~johannb/position.htm
I agree with Carl, this thing is GREAT! Most of the concepts are
probably beyond what you could reasonably do w/ stock Mindstorms parts
but it is a great source for ideas, theory and hey, the equations are
done for you. It is a big download 13.5 MB, but well worth it. Free
even.
I have included the Table of Contents, it is quite comprehensive. The
actual file name isn't made clear on the web site, it is: pos96rep.pdf
Thanks again Carl,
Dave
Where am I?
Sensors and Methods for
Mobile Robot Positioning
by
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
Table of Contents (282 Pages, 13.5 MB Adobe PDF file)
Introduction
................................................................10
PART I SENSORS FOR MOBILE ROBOT POSITIONING
Chapter 1 Sensors for Dead Reckoning
.........................................13
1.1 Optical Encoders
........................................................13
1.1.1 Incremental Optical Encoders
..........................................14
1.1.2 Absolute Optical Encoders
........................................... 16
1.2 Doppler Sensors
.........................................................17
1.2.1 Micro-Trak Trak-Star Ultrasonic Speed Sensor
............................18
1.2.2 Other Doppler-Effect Systems
.........................................19
1.3 Typical Mobility Configurations
............................................19
1.3.1 Differential Drive
...................................................19
1.3.2 Tricycle Drive
..................................................... 21
1.3.3 Ackerman Steering
................................................. 21
1.3.4 Synchro Drive
..................................................... 23
1.3.5 Omnidirectional Drive
............................................... 25
1.3.6 Multi-Degree-of-Freedom Vehicles
.....................................26
1.3.7 MDOF Vehicle with Compliant Linkage
................................. 27
1.3.8 Tracked Vehicles
................................................... 28
Chapter 2 Heading Sensors
...................................................30
2.1 Mechanical Gyroscopes
..................................................30
2.1.1 Space-Stable Gyroscopes
.............................................31
2.1.2 Gyrocompasses ....................................................
32
2.1.3 Commercially Available Mechanical Gyroscopes
..........................32
2.1.3.1 Futaba Model Helicopter Gyro
.....................................33
2.1.3.2 Gyration, Inc.
..................................................33
2.2 Piezoelectric Gyroscopes
.................................................33
2.3 Optical Gyroscopes
......................................................34
2.3.1 Active Ring Laser Gyros
............................................. 36
2.3.2 Passive Ring Resonator Gyros
........................................ 38
2.3.3 Open-Loop Interferometric Fiber Optic Gyros
.............................39
2.3.4 Closed-Loop Interferometric Fiber Optic Gyros
............................42
2.3.5 Resonant Fiber Optic Gyros
.......................................... 42
2.3.6 Commercially Available Optical Gyroscopes
..............................43
2.3.6.1 The Andrew “Autogyro"
..........................................43
2.3.6.2 Hitachi Cable Ltd. OFG-3
.......................................... 44
2.4 Geomagnetic Sensors
....................................................45
2.4.1 Mechanical Magnetic Compasses
.......................................46
2.4.2 Fluxgate Compasses
................................................ 47
2.4.2.1 Zemco Fluxgate Compasses
.......................................52
2.4.2.2 Watson Gyrocompass
............................................55
2.4.2.3 KVH Fluxgate Compasses
.........................................56
2.4.3 Hall-Effect Compasses
.............................................. 57
2.4.4 Magnetoresistive Compasses
.......................................... 59
2.4.4.1 Philips AMR Compass
............................................59
2.4.5 Magnetoelastic Compasses
........................................... 60
Chapter 3 Ground-Based RF-Beacons and GPS
..................................65
3.1 Ground-Based RF Systems
............................................... 65
3.1.1 Loran ............................................................
65
3.1.2 Kaman Sciences Radio Frequency Navigation Grid
....................... 66
3.1.3 Precision Location Tracking and Telemetry System
.........................67
3.1.4 Motorola Mini-Ranger Falcon
........................................ 68
3.1.5 Harris Infogeometric System
.......................................... 69
3.2 Overview of Global Positioning Systems (GPSs)
...............................70
3.3 Evaluation of Five GPS Receivers by Byrne [1993]
............................78
3.3.1 Project Goals
...................................................... 78
3.3.2 Test Methodology
.................................................. 78
3.3.2.1 Parameters tested
................................................79
3.3.2.2 Test hardware
..................................................81
3.3.2.3 Data post processing
.............................................82
3.3.3 Test Results
....................................................... 83
3.3.3.1 Static test results
................................................84
3.3.3.2 Dynamic test results
..............................................88
3.3.3.3 Summary of test results
............................................ 91
3.3.4 Recommendations ..................................................
91
3.3.4.1 Summary of problems encountered with the tested GPS receivers
..........92
3.3.4.2 Summary of critical integration issues
................................92
Chapter 4 Sensors for Map-Based Positioning
.................................. 95
4.1 Time-of-Flight Range Sensors
..............................................95
4.1.1 Ultrasonic TOF Systems
............................................. 97
4.1.1.1 Massa Products Ultrasonic Ranging Module Subsystems
.................97
4.1.1.2 Polaroid Ultrasonic Ranging Modules
................................99
4.1.2 Laser-Based TOF Systems ..........................................
101
4.1.2.1 Schwartz Electro-Optics Laser Rangefinders
.........................101
4.1.2.2 RIEGL Laser Measurement Systems
...............................107
4.1.2.3 RVSI Long Optical Ranging and Detection System
....................109
4.2 Phase-Shift Measurement
................................................112
4.2.1 Odetics Scanning Laser Imaging System
.................................115
4.2.2 ESP Optical Ranging System
........................................ 116
4.2.3 Acuity Research AccuRange 3000
.....................................117
4.2.4 TRC Light Direction and Ranging System
.............................. 119
4.2.5 Swiss Federal Institute of Technology's “3-D Imaging Scanner”
..............120
4.2.6 Improving Lidar Performance
.........................................121
4.3 Frequency Modulation
................................................. 123
4.3.1 Eaton VORAD Vehicle Detection and Driver Alert System
.................125
4.3.2 Safety First Systems Vehicular Obstacle Detection and Warning
System .......127
PART II SYSTEMS AND METHODS FOR MOBILE ROBOT POSITIONING
Chapter 5 Odometry and Other Dead-Reckoning Methods
.......................130
5.1 Systematic and Non-Systematic Odometry Errors
.............................130
5.2 Measurement of Odometry Errors
.........................................132
5.2.1 Measurement of Systematic Odometry Errors
............................132
5.2.1.1 The Unidirectional Square-Path Test
................................132
5.2.1.2 The Bidirectional Square-Path Experiment
...........................134
5.2.2 Measurement of Non-Systematic Errors
.................................136
5.3 Reduction of Odometry Errors
............................................137
5.3.1 Reduction of Systematic Odometry Errors
.............................. 138
5.3.1.1 Auxiliary Wheels and Basic Encoder Trailer
.........................138
5.3.1.2 The Basic Encoder Trailer
........................................139
5.3.1.3 Systematic Calibration
...........................................139
5.3.2 Reducing Non-Systematic Odometry Errors
..............................143
5.3.2.1 Mutual Referencing
.............................................143
5.3.2.2 Internal Position Error Correction
..................................143
5.4 Inertial Navigation
......................................................145
5.4.1 Accelerometers ...................................................
146
5.4.2 Gyros ...........................................................
146
5.4.2.1 Barshan and Durrant-Whyte [1993; 1994; 1995]
......................147
5.4.2.2 Komoriya and Oyama [1994]
.....................................148
5.5 Summary ............................................................
149
Chapter 6 Active Beacon Navigation Systems
...................................151
6.1 Discussion on Triangulation Methods
.......................................152
6.1.1 Three-Point Triangulation
............................................152
6.1.2 Triangulation with More Than Three Landmarks
..........................153
6.2 Ultrasonic Transponder Trilateration
.......................................154
6.2.1 IS Robotics 2-D Location System
..................................... 155
6.2.2 Tulane University 3-D Location System
................................ 155
6.3 Optical Positioning Systems
............................................. 157
6.3.1 Cybermotion Docking Beacon .......................................
158
6.3.2 Hilare ..........................................................
159
6.3.3 NAMCO LASERNET .............................................. 160
6.3.3.1 U.S. Bureau of Mines' application of the LaserNet sensor
...............161
6.3.4 Denning Branch International Robotics LaserNav Position Sensor
........... 163
6.3.5 TRC Beacon Navigation System
...................................... 163
6.3.6 Siman Sensors and Intelligent Machines Ltd., ROBOSENSE
.................164
6.3.7 Imperial College Beacon Navigation System
.............................165
6.3.8 MTI Research CONAC ........................................... 166
6.3.9 Spatial Positioning Systems, inc.: Odyssey
.............................. 170
6.4 Summary ............................................................
172
Chapter 7 Landmark Navigation
............................................ 173
7.1 Natural Landmarks
.....................................................174
7.2 Artificial Landmarks
....................................................175
7.2.1 Global Vision
..................................................... 176
7.3 Artificial Landmark Navigation Systems
....................................176
7.3.1 MDARS Lateral-Post Sensor
......................................... 177
7.3.2 Caterpillar Self Guided Vehicle
...................................... 178
7.3.3 Komatsu Ltd, Z-shaped landmark
..................................... 179
7.4 Line Navigation
........................................................180
7.4.1 Thermal Navigational Marker
.........................................181
7.4.2 Volatile Chemicals Navigational Marker
.................................181
7.5 Summary ............................................................
183
Chapter 8 Map-based Positioning
........................................... 184
8.1 Map Building
......................................................... 185
8.1.1 Map-Building and Sensor Fusion
...................................... 186
8.1.2 Phenomenological vs. Geometric Representation, Engelson &
McDermott [1992] 186
8.2 Map Matching
........................................................ 187
8.2.1 Schiele and Crowley [1994]
......................................... 188
8.2.2 Hinkel and Knieriemen [1988] — The Angle Histogram
....................189
8.2.3 Weiß, Wetzler, and Puttkamer — More on the Angle Histogram
.............191
8.2.4 Siemens' Roamer ..................................................
193
8.2.5 Bauer and Rencken: Path Planning for Feature-based Navigation
.............194
8.3 Geometric and Topological Maps
........................................196
8.3.1 Geometric Maps for Navigation
.......................................197
8.3.1.1 Cox [1991]
....................................................198
8.3.1.2 Crowley [1989]
................................................199
8.3.1.3 Adams and von Flüe
............................................202
8.3.2 Topological Maps for Navigation
......................................203
8.3.2.1 Taylor [1991]
..................................................203
8.3.2.2 Courtney and Jain [1994]
........................................203
8.3.2.3 Kortenkamp and Weymouth [1993]
................................204
8.4 Summary ............................................................
206
Chapter 9 Vision-Based Positioning
......................................... 207
9.1 Camera Model and Localization
......................................... 207
9.2 Landmark-Based Positioning
............................................ 209
9.2.1 Two-Dimensional Positioning Using a Single Camera
..................... 209
9.2.2 Two-Dimensional Positioning Using Stereo Cameras
...................... 211
9.3 Camera-Calibration Approaches
......................................... 211
9.4 Model-Based Approaches
.............................................. 213
9.4.1 Three-Dimensional Geometric Model-Based Positioning
................... 214
9.4.2 Digital Elevation Map-Based Localization
.............................. 215
9.5 Feature-Based Visual Map Building
...................................... 215
9.6 Summary and Discussion
............................................... 216
Appendix A A Word on Kalman Filters
...................................... 218
Appendix B Unit Conversions and Abbreviations
.............................. 219
Appendix C Systems-at-a-Glance Tables
..................................... 221
References
.............................................................. 236
Subject Index
............................................................ 262
Author Index
............................................................ 274
Company Index ..........................................................
278
Bookmark Index .........................................................
279
Video Index
............................................................. 280
Full-length Papers Index
................................................... 281
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Message has 2 Replies:
 | | Re: Book on Robot Sensors and Navigation Techniques.
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| As long as we're on the subject of books, I'd like to recommend "Mobile Robots" by Anita Flynn and Joe Lee Jones: (URL) a fascinating book, full of hands-on information. It contains step by step instructions for building several robots, including (...) (26 years ago, 11-Jan-99, to lugnet.robotics)
| | | LEGO Robot Arena page is up
|
| Hello, I've put up a page describing my upcoming Mindstorms robot fighting tournament in San Jose, California: (URL) also received some e-mail from someone who is interested in an east coast event (Sarasota, Florida). If you're on the EAST coast and (...) (26 years ago, 11-Jan-99, to lugnet.robotics)
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