The Personal Robot Navigator 

Merl K. Miller, Nelson Winkless, Joe Bosworth

1 The Robotmaster

 In the Beginning 1
 How to navigate this book 4
 How to install the software 5
 Methodology 7
 Commentary 9
 Conclusion 12

2 Personal Robots: General Concepts

 Nobody here but us practical people 15
 What are we striving for? 16
 Examples to learn from 18
 The next step 21
 A broader scale 24
 An anticipation 26
 Conclusion 28
 But good meat and potatoes 29
 

3 Personal Robot Navigation

 A navigation application 35
 Personal robot architecture 37
 A practical approach to navigation 38
 The computer and navigation 39
 Software and navigation 40
 Software in levels 41
 More on levels 42
 Navigation sensors 46
 The Mobile base 46
 Model 49 
 Conclusion 50

4 Navigation and planning control 

 Understanding robot navigation 53
 Set up a map of the room or rooms 54
 Design the map and set up all of your standard path nodes 56
 Path nodes and segments 59
 Plan and input the destination 62
 Execute, track and control 62
 Conclusion 68

5 Dead Reckoning and Referencing 

 Introduction  71
 Dead-reckoning navigation 73
 Compass 78
 Referencing 81
 Beacons 82
 Conclusion 85

6 Sonar and Obstacle Avoidance

 Introduction 89
 Control systems 90
 How sonar works 92
 Navigation and obstacle avoidance  98
 Interpretation of data  101
 An alternative 103
 Conclusion 104

7 I Reason: Therefore I Are

 Getting started with RoboNav 107
 Mastering the demo 108
 Beyond the deom 114
 Build your own simulation 118
 Placing Furniture 123
 Placing Nodes 125
 The design tables 126
 Fun stuff 132
 Summary 135

8 RoboNav Help

 Overview 139
 How to use help 140
 Topics 141
 About/exit 143
 Room design 144
 Preferences 155
 Simulate 162