Directed Sonar Sensing for Mobile Robot Navigation

Name: Directed Sonar Sensing for Mobile Robot Navigation
Brand: Springer
SKU: 9780792392422
Price: 65130 HUF
Availability: InStock

Szerző: John J. Leonard, Hugh Durrant-Whyte

Nyelv:

Kötés: Kemény kötésű

Kiadó: Springer

Elérhetőség: Beszállítói készleten

Küldés 9-15 napon belül

65 130 Ft

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

Információk a könyvről

Szerző

John J. Leonard, Hugh Durrant-Whyte

Nyelv

Angol

Kötés

Könyv - Kemény kötésű

Kiadva

1992

oldal

183

EAN

9780792392422

ISBN

0792392426

Enbook ID

01398128

Kiadó

Springer

Súly

1050

Méretek

155 x 235 x 16

Teljes leírás

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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