Directed Sonar Sensing for Mobile Robot Navigation

Name: Directed Sonar Sensing for Mobile Robot Navigation
Brand: Springer-Verlag New York Inc.
SKU: 9781461366256
Price: 149.51 EUR
Availability: InStock

Autor: John J. Leonard, Hugh F. Durrant-Whyte

Jazyk:

Väzba: Brožovaná

Vydavateľ: Springer-Verlag New York Inc.

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While many mobile robots come equipped with ultrasonic range sensing (sonar), accurate map building...

Informácie o knihe

Autor

John J. Leonard, Hugh F. Durrant-Whyte

Jazyk

Angličtina

Väzba

Kniha - Brožovaná

Vydalo

2012

Stránok

183

EAN

9781461366256

ISBN

1461366259

Enbook ID

02016406

Vydavateľ

Springer-Verlag New York Inc.

Hmotnosť

320

Rozmery

155 x 235 x 15

Kompletný popis

While many mobile robots come equipped with ultrasonic range sensing (sonar), accurate map building and position estimation using sonar has been elusive, because of the difficulty in interpreting sonar data correctly. This book presents evidence that sonar can in fact fulfill the perception role for the provision of long-term autonomous navigation in a broad class of man-made environments. §A new approach to mobile robot navigation is presented that unifies the problems of localization, obstacle detection, and map building in a combined multitarget tracking framework. The primary tools of this approach are the Kalman filter and a physically based sonar sensor model. Experimental results with real sonar data demonstrate model-based localization using an a priori hand-measured map and sub-centimeter accuracy map building for an uncluttered office scene. §This book will be of particular interest to researchers in mobile robotics, especially potential users of sonar. The approach has greater significance, however, as the issues involved -- the choice of representation, the problem of data association, and the pursuit of long-term autonomy -- are central to many outstanding problems in robotics and artificial intelligence. §

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Directed Sonar Sensing for Mobile Robot Navigation

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