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Sensors and Methods for Mobile Robot Positioning P1

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Leonard and Durrant-Whyte [1991] summarized the general problem of mobile robot navigation by three questions: “Where am I?,” “Where am I going?,” and “How should I get there?.” This report surveys the state-of-the-art in sensors, systems, methods, and technologies that aim at answering the first question, that is: robot positioning in its environment. Perhaps the most important result from surveying the vast body of literature on mobile robot positioning is that to date there is no truly elegant solution for the problem. The many partial solutions can roughly be categorized into two groups: relative and absolute position measurements. Because of the lack of a single, generally good. | edit 0 Where am I Sensors and Methods for Mobile Robot Positioning by J. Borenstein H. R. Ever ett and L.Feng Edited and Compiled by J. Borenstein Contributing Authors S. W. Loe and R. H. Byrne Prepaed by The University of Michigan for the Oak Ridge National Lab D D Program aid for the United States Department of Energy Tfe. University of Michigan Where am I Sensors and Methods for Mobile Robot Positioning by J. Borenstein1 H. R. Everett2 and L. Feng3 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 The University of Michigan Department of Mechanical Engineering and Applied Mechanics Mobile Robotics Laboratory 1101 Beal Avenue Ann Arbor MI 48109 Ph. 313 763-1560 Fax 313 944-1113 Email johannb@umich.edu 2 Commander H. R. Everett Naval Command Control and Ocean Surveillance Center RDT E Division 5303 271 Catalina Boulevard San Diego CA 92152-5001 Ph. 619 553-3672 Fax 619 553-6188 Email Everett@NOSC.MIL 3 Dr. Liqiang Feng The University of Michigan Department of Mechanical Engineering and Applied Mechanics Mobile Robotics Laboratory 1101 Beal Avenue Ann Arbor MI 48109 Ph. 313 936-9362 Fax 313 763-1260 Email Feng@engin.umich.edu Please direct all inquiries to Johann Borenstein. How to Use this Document The use of the Acrobat Reader utility is straight-forward if necessary help is available from theHelp Menu. Here are some tips You may wish to enable View Bookmarks Page to see a list of bookmarks besides the current page. Clicking on a bookmark will cause the Acrobat Reader to jump directly to the location marked by the bookmark e.g. the first page in a specific chapter . You may wish to enable View Thumbnails Page to see each page as a small .