Autonomous Robot Vehicles

1. Front Matter

   Pages i-xxvi

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2. Guidance: Kinematics, Control, and Trajectory Generation

   1. Front Matter

      Pages 1-4

      PDF

   2. On the Kinematics of Wheeled Mobile Robots

      • J. C. Alexander, J. H. Maddocks

      Pages 5-24

   3. Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot

      • Patrick F. Muir, Charles P. Neuman

      Pages 25-31

   4. An Automatic Guidance System of a Self-Controlled Vehicle

      • Takero Hongo, Hideo Arakawa, Gunji Sugimoto, Koichi Tange, Yuzo Yamamoto

      Pages 32-37

   5. Local Path Control for an Autonomous Vehicle

      • Winston L. Nelson, Ingemar J. Cox

      Pages 38-44

   6. Running With Symmetry

      • Marc H. Raibert

      Pages 45-61

   7. Smooth Local Path Planning for Autonomous Vehicles

      • Yutaka Kanayama, Bruce I. Hartman

      Pages 62-67

3. Sensors

   1. Front Matter

      Pages 69-72

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   2. Sensor Models and Multisensor Integration

      • Hugh F. Durrant-Whyte

      Pages 73-89

   3. Location Estimation and Uncertainty Analysis for Mobile Robots

      • C. Ming Wang

      Pages 90-95

   4. Inertial Navigation

      • Morris M. Kuritsky, Murray S. Goldstein

      Pages 96-116

   5. Continuous transmission FM sonar with one octave bandwidth and no blind time

      • P. T. Gough, A. de Roos, M. J. Cusdin

      Pages 117-121

   6. An Optical Rangefinder for Autonomous Robot Cart Navigation

      • Gabriel L. Miller, Eric R. Wagner

      Pages 122-134

   7. Error Modeling in Stereo Navigation

      • Larry Matthies, Steven A. Shafer

      Pages 135-144

4. Navigation: Position and Course Estimation

   1. Front Matter

      Pages 145-150

      PDF

   2. Statistical Theory of Passive Location Systems

      • Don J. Torrieri

      Pages 151-166

   3. Estimating Uncertain Spatial Relationships in Robotics

      • Randall Smith, Matthew Self, Peter Cheeseman

      Pages 167-193

   4. The Kalman Filter: An Introduction to Concepts

      • Peter S. Maybeck

      Pages 194-204

   5. Maintaining Representations of the Environment of a Mobile Robot

      • Nicholas Ayache, Olivier D. Faugeras

      Pages 205-220

Autonomous robot vehicles are vehicles capable of intelligent motion and action without requiring either a guide or teleoperator control. The recent surge of interest in this subject will grow even grow further as their potential applications increase. Autonomous vehicles are currently being studied for use as reconnaissance/exploratory vehicles for planetary exploration, undersea, land and air environments, remote repair and maintenance, material handling systems for offices and factories, and even intelligent wheelchairs for the disabled. This reference is the first to deal directly with the unique and fundamental problems and recent progress associated with autonomous vehicles. The editors have assembled and combined significant material from a multitude of sources, and, in effect, now conviniently provide a coherent organization to a previously scattered and ill-defined field.

• Potential
• Sensor
• autonom
• autonomous robot
• control
• environment
• kinematics
• modeling
• motion planning
• navigation
• organization
• planning
• robot
• sensing
• sensors
• Engineering Economics

• NEC Research Institute, Princeton, USA

  Ingemar J. Cox

• AT&T Bell Laboratories, Murray Hill, USA

  Gordon T. Wilfong

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