Autonomous Robot Vehicles

Front Matter....Pages i-xxvi
Front Matter....Pages 1-4
On the Kinematics of Wheeled Mobile Robots....Pages 5-24
Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot....Pages 25-31
An Automatic Guidance System of a Self-Controlled Vehicle....Pages 32-37
Local Path Control for an Autonomous Vehicle....Pages 38-44
Running With Symmetry....Pages 45-61
Smooth Local Path Planning for Autonomous Vehicles....Pages 62-67
Front Matter....Pages 69-72
Sensor Models and Multisensor Integration....Pages 73-89
Location Estimation and Uncertainty Analysis for Mobile Robots....Pages 90-95
Inertial Navigation....Pages 96-116
Continuous transmission FM sonar with one octave bandwidth and no blind time....Pages 117-121
An Optical Rangefinder for Autonomous Robot Cart Navigation....Pages 122-134
Error Modeling in Stereo Navigation....Pages 135-144
Front Matter....Pages 145-150
Statistical Theory of Passive Location Systems....Pages 151-166
Estimating Uncertain Spatial Relationships in Robotics....Pages 167-193
The Kalman Filter: An Introduction to Concepts....Pages 194-204
Maintaining Representations of the Environment of a Mobile Robot....Pages 205-220
Blanche: Position Estimation for an Autonomous Robot Vehicle....Pages 221-228
Front Matter....Pages 229-232
Sonar-Based Real-World Mapping and Navigation....Pages 233-249
Cartographic Databases....Pages 250-258
Spatial Planning: A Configuration Space Approach....Pages 259-271
Front Matter....Pages 229-232
Simplified Voronoi Diagrams....Pages 272-289
Solving the Find-Path Problem by Good Representation of Free Space....Pages 290-297
Front Matter....Pages 299-302
Computational Complexity of Art Gallery Problems....Pages 303-309
Sensing Strategies for Disambiguating Among Multiple Objects in Known Poses....Pages 310-327
Probing Convex Polytopes....Pages 328-341
Front Matter....Pages 343-347
An Automatic Motion Planning System for a Convex Polygonal Mobile Robot in 2-Dimensional Polygonal Space....Pages 349-362
Path-Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape....Pages 363-390
Motion Planning for an Autonomous Vehicle....Pages 391-395
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots....Pages 396-404
Front Matter....Pages 405-406
The Stanford Cart and the CMU Rover....Pages 407-419
An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots....Pages 420-443
A Mars Rover for the 1990’s....Pages 444-449
A Mobile Robot: Sensing, Planning and Locomotion....Pages 450-458
Back Matter....Pages 459-462