Leonard and Durrant-Whyte [1991] summarized the problem of navigation by three questions: "where am I?", "where am I going?", and "how should I get there?" This report surveys the stateof- the-art in sensors, systems, methods, and technologies that aim at answering the first question, that is: robot positioning in its environment. | Tfve University of Michigan Volume III Where am I Sensors and Methods for Autonomous Mobile Robot Positioning by L. Feng1 J. Borenstein2 and H. R. Everett3 Edited and compiled by J. Borenstein December 1994 Copies of this report are available from the University of Michigan as Technical Report UM-MEAM-94-21 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. 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@ 2 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 Johann_Borenstein@ 3 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@ Please direct all inquiries to Johann Borenstein D WP DOE_94 ORNL February 25 1995 This page intentionally left blank. A cknowledgments This work was done under the direction and on behalf of the Department of Energy Robotics Technology Development Program Within the Environmental Restoration Decontamination and Dismantlement Project. Parts of this report were adapted from H. R. Everett Sensors for Mobile Robots. A. K. Peters Ltd. Wellesley expected publication date Spring 1995. The authors wish to thank Professors David K. Wehe and Yoram Koren for their support in preparing this report. The authors also wish to thank Dr. William R. Hamel D D Technical Coordinator and Dr. Linton W. Yarbrough DOE Program Manager for their .
