Publisher's Synopsis
This is a survey of the state-of-the-art in sensors, systems, methods and technologies utilized by a mobile robot to determine its position in the environment. The many potential "solutions" are roughly categorized into two groups: relative and absolute position measurements. The first includes odometry and inertial navigation; the second comprises active beacons, artificial and natural landmark recognition and model matching.;The authors compare and analyze these different methods based on technical publications and on commercial product and patent information. Comparison is centred around the following criteria: accuracy of position and orientation measurements; equipment needed; cost; sampling rate; effective range; computational power required; processing needs; and other special features.
