Page 335 - Introduction to Autonomous Mobile Robots

Index
320
navigation pose 18, 47, 49, 54, 59, 71, 74-80, 95,
behavior-based 191-193, 297 183, 186, 190-191, 211-213, 244-
landmark-based 209, 245-246 245
map-based 181, 193-194 position-sensitive device (PSD) 112-113
vision-based 173 potential field 261, 267-270, 275
navigation architecture 257, 291-295, 299- extended 270-271
300, 303-304 rotation 270
navigation competence 11, 257, 292 task 270-271
nearness diagram (ND) 285 precision 1, 94-95, 136, 200, 214, 230,
NF1 266, 283, 285, 290 247
Nomad XR4000 35, 42 preprocessing 165, 167, 174, 177
nonholonomic 75-77, 80, 260, 272, 276, probability density function 145-148, 198,
278, 286, 288, 290, 291 214, 225-227
nonintegrable 75 proprioceptive 89-92, 97-98, 185, 213
nonlinearity 99 Pygmalion 69, 238, 302
nonmaxima suppression 168-171 R
normal distribution 148 Raibert 22-23
O random variable 147-149, 154-155
obstacle avoidance 122, 126-127, 130, randomized sampling 225, 226
141, 151, 166, 175, 180, 257, 264, range 92-95, 99, 104-117, 120-122, 127-
272-291, 296-298 128, 138, 151, 161
occupancy grid 151, 153, 197, 205-207, rank 69- 72
210, 247, 256, 277, 283-284, 302 reference frame
omnidirectional 32-42, 58-64, 71, 77-78, global 48-55, 76
284 inertial 100
optical local 52-55, 63-66, 69, 95, 235
flow 138-142 moving 210
flow constraint 140 resolution 93, 97, 99, 114-115, 185, 223,
radar 108 266
triangulation 104, 111, 113 Rhino 223-225, 233, 238
orthogonal rotation matrix 49 road map 261-265
P Robox 5
path planning 191, 257-267, 283, 285, rolling constraint 54, 57-67, 76
291, 299, 304 rotation matrix 49-50, 131
perception update 213, 216, 219, 220, 223, RWI B24 223
233, 245, 247 S
Personal Rover 44 saturation 120, 174, 177
pinhole 124 Schlegel 284, 290
Pioneer 4, 7 segmentation 160-161, 174
planning sensitivity 93-94, 121, 124, 176, 178
deferred 302 sensor aliasing 184
episodic 301-302 sensor fusion 142, 184, 211-212, 227, 229,
integrated 258, 303-304 233, 281, 284
Plustech 2-3 sensor noise 183-184, 196, 218
point spread function 127 Shakey 173
Shrimp 44, 136
shutter 119, 124