Robot cognition and navigation: an experiment with mobile robots
Gespeichert in:
| Beteilige Person: | |
|---|---|
| Format: | Buch |
| Sprache: | Englisch |
| Veröffentlicht: |
Berlin [u.a.]
Springer
2005
|
| Schriftenreihe: | Cognitive technologies
|
| Schlagwörter: | |
| Links: | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=014165288&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Umfang: | XV, 288 S. Ill., graph. Darst. 235 mm x 155 mm |
| ISBN: | 9783540234463 |
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Datensatz im Suchindex
| _version_ | 1819307738560200704 |
|---|---|
| adam_text | IMAGE 1
SRIKANTA PATNAIK
ROBOT COGNITION
AND NAVIGATION AN EXPERIMENT WITH MOBILE ROBOTS WITH 95 FIGURES, AND 7
TABLES
SPRINGER
IMAGE 2
CONTENTS
1 CYBERNETIC VIEW OF ROBOT COGNITION AND PERCEPTION 1
1.1 INTRODUCTION TO THE MODEL OF COGNITION 1
1.1.1 VARIOUS STATES OF COGNITION 3
1.1.2 CYCLES OF COGNITION 5
1.2 VISUAL PERCEPTION 7
1.2.1 HUMAN VISUAL SYSTEM 7
1.2.2 VISION FOR MOBILE ROBOTS 8
1.3 VISUAL RECOGNITION 10
1.3.1 TEMPLATE MATCHING 11
1.3.2 FEATURE-BASED MODEL 11
1.3.3 FOURIER MODEL 12
1.3.4 STRUCTURAL MODEL 12
1.3.5 THE COMPUTATIONAL THEORY OF MARR 13
1.4 MACHINE LEARNING 13
1.4.1 PROPERTIES AND ISSUES IN MACHINE LEARNING 13
1.4.2 CLASSIFICATION OF MACHINE LEARNING 15
1.5 SOFT COMPUTING TOOLS AND ROBOT COGNITION 17
1.5.1 MODELING COGNITION USING ANN 17
1.5.2 FUZZY LOGIC IN ROBOT COGNITION 19
1.5.3 GENETIC ALGORITHMS IN ROBOT COGNITION 19
1.6 SUMMARY 20
2 MAP BUILDING 21
2.1 INTRODUCTION 21
2.2 CONSTRUCTING A 2D WORLD MAP 22
2.2.1 DATA STRUCTURE FOR MAP BUILDING 22
2.2.2 EXPLANATION OF THE ALGORITHM 26
2.2.3 AN ILLUSTRATION OF PROCEDURE T R A V E R SE BOUNDARY..27 2.2.4 AN
ILLUSTRATION OF PROCEDURE MAP B U I L D I NG 29
2.2.5 ROBOT SIMULATION 31
2.3 EXECUTION OF THE MAP BUILDING PROGRAM 33
2.4 SUMMARY 38
IMAGE 3
PATH PLANNING 39
3.1 INTRODUCTION 39
3.2 REPRESENTATION OF THE ROBOT S ENVIRONMENT 39
3.2.1 GVD USING CELLULAR AUTOMATA 40
3.3 PATH OPTIMIZATION BY THE QUADTREE APPROACH 41
3.3.1 INTRODUCTION TO THE QUADTREE 41
3.3.2 DEFINITION 42
3.3.3 GENERATION OF THE QUADTREE 42
3.4 NEIGHBOR-FINDING ALGORITHMS FOR THE QUADTREE 47
3.5 THE A* ALGORITHM FOR SELECTING THE BEST NEIGHBOR 52
3.6 EXECUTION OF THE QUADTREE-BASED PATH PLANNER PROGRAM 54 3.7 SUMMARY
58
NAVIGATION USING A GENETIC ALGORITHM 59
4.1 INTRODUCTION 59
4.2 GENETIC ALGORITHMS 60
4.2.1 ENCODING OF A CHROMOSOME 61
4.2.2 CROSSOVER 62
4.2.3 MUTATION 62
4.2.4 PARAMETERS OFAGA 63
4.2.5 SELECTION 63
4.3 NAVIGATION BY A GENETIC ALGORITHM 64
4.3.1 FORMULATION OF NAVIGATION 64
4.4 EXECUTION OF THE GA-BASED NAVIGATION PROGRAM 67
4.5 REPLANNING BY TEMPORAL ASSOCIATIVE MEMORY 68
4.5.1 INTRODUCTION TO TAM 68
4.5.2 ENCODING AND DECODING PROCESS IN A TEMPORAL MEMORY 70
4.5.3 AN EXAMPLE IN A SEMI-DYNAMIC ENVIRONMENT 71
4.5.4 IMPLICATIONS OF RESULTS 74
4.6 SUMMARY 75
ROBOT PROGRAMMING PACKAGES 77
5.1 INTRODUCTION 77
5.2 ROBOT HARDWARE AND SOFTWARE RESOURCES 78
5.2.1 COMPONENTS 79
5.3ARIA 79
5.3.1 ARIA CLIENT-SERVER 80
5.3.2 ROBOT COMMUNICATION 84
5.3.3 OPENING THE CONNECTION 84
5.3.4 ARROBOT 85
5.3.5 RANGE DEVICES 87
5.3.6 COMMANDS AND ACTIONS 88
IMAGE 4
CONTENTS XIII
5.4 SOCKET PROGRAMMING 95
5.4.1 SOCKET PROGRAMMING IN ARIA 96
5.5 BOTSPEAK SPEECH SYSTEM 98
5.5.1 FUNCTIONS 98
5.6 SMALL VISION SYSTEM (SVS) 100
5.6.1 SVS C++ CLASSES 101
5.6.2 PARAMETER CLASSES 102
5.6.3 STEREO IMAGE CLASS 102
5.6.4 ACQUISITION CLASSES 106
5.7 MULTITHREADING 112
5.8 CLIENT FRONT-END DESIGN USING JAVA 113
5.9 SUMMARY 113
6 ROBOT PARAMETER DISPLAY 115
6.1 INTRODUCTION 115
6.2 FLOW CHART AND SOURCE CODE FOR ROBOT PARAMETER DISPLAY 115
6.3 SUMMARY 125
7 PROGRAM FOR BOTSPEAK 127
7.1 INTRODUCTION 127
7.2 FLOW CHART AND SOURCE CODE FOR BOTSPEAK PROGRAM 127 7.3 SUMMARY 136
8 GRIPPER CONTROL PROGRAM 137
8.1 INTRODUCTION 137
8.2 FLOW CHART AND SOURCE CODE FOR GRIPPER CONTROL PROGRAM 137
8.3 SUMMARY 150
9 PROGRAM FOR SONAR READING DISPLAY 151
9.1 INTRODUCTION 151
9.2 FLOW CHART AND SOURCE CODE FOR SONAR READING DISPLAY ON CLIENT 151
9.3 SUMMARY 161
10 PROGRAM FOR WANDERING WITHIN THE WORKSPACE 163
10.1 INTRODUCTION 163
10.2 ALGORITHM AND SOURCE CODE FOR WANDERING WITHIN THE WORKSPACE 163
10.3 SUMMARY 173
IMAGE 5
XIV CONTENTS
11 PROGRAM FOR TELE-OPERATION 175
11.1 INTRODUCTION 175
11.2 ALGORITHM AND SOURCE CODE FOR TELE-OPERATION 175
11.3SUMMARY 188
12 A COMPLETE PROGRAM FOR AUTONOMOUS NAVIGATION 189
12.1 INTRODUCTION 189
12.2 THE IMAGESERVER PROGRAM 190
12.3 THE MOTIONSERVER PROGRAM 192
12.4 THE NAVIGATOR CLIENT PROGRAM 195
12.5SUMMARY 199
13 IMAGING GEOMETRY 201
13.1 INTRODUCTION 201
13.2NECESSITY FOR 3D RECONSTRUCTION 201
13.3 BUILDING PERCEPTION 202
13.3.1 PROBLEMS OF UNDERSTANDING 3D OBJECTS FROM 2D IMAGERY 203
13.3.2 PROCESS OF 3D RECONSTRUCTION 203
13.4 IMAGING GEOMETRY 205
13.4.1 IMAGE FORMATION 205
13.4.2 PERSPECTIVE PROJECTION IN ONE DIMENSION 206
13.4.3 PERSPECTIVE PROJECTION IN 3D 207
13.5 GLOBAL REPRESENTATION 211
13.6 TRANSFORMATION TO GLOBAL COORDINATE SYSTEM 217
13.7 SUMMARY 220
14 IMAGE CAPTURE PROGRAM 221
14.1 INTRODUCTION 221
14.2 ALGORITHM FOR IMAGE CAPTURE 221
14.3 SUMMARY 225
15 BUILDING 3D PERCEPTION USING A KAIMAN FILTER 227
15.1 INTRODUCTION 227
15.2 MINIMAL REPRESENTATION 227
15.3 RECURSIVE KAIMAN FILTER 229
15.4 EXPERIMENTS AND ESTIMATION 231
15.4.1 RECONSTRUCTION OF3D POINTS 237
15.4.2 RECONSTRUCTION OF A3D LINE 242
15.4.3 RECONSTRUCTION OF A 3D PLANE 246
15.5 CORRESPONDENCE PROBLEM IN 3D RECOVERY 249
15.6 SUMMARY 250
IMAGE 6
CONTENTS XV
16 PROGRAM FOR 3D PERCEPTION 251
16.1 INTRODUCTION 251
16.2 FLOW CHART AND SOURCE CODE FOR 3D PERCEPTION 251
16.3 SUMMARY 262
17 PERCEPTIONS OF NON-PLANAR SURFACES 263
17.1 INTRODUCTION 263
17.2 METHODS OF EDGE DETECTION 263
17.3 CURVE TRACKING AND CURVE FITTING 266
17.4 PROGRAM FOR CURVE DETECTOR 270
17.5 SUMMARY 275
18 INTELLIGENT GARBAGE COLLECTION 277
18.1 INTRODUCTION 277
18.2 ALGORITHMS AND SOURCE CODE FOR GARBAGE COLLECTION 277 18.3 SUMMARY
281
REFERENCES 283
INDEX 289
|
| any_adam_object | 1 |
| author | Patnaik, Srikanta |
| author_facet | Patnaik, Srikanta |
| author_role | aut |
| author_sort | Patnaik, Srikanta |
| author_variant | s p sp |
| building | Verbundindex |
| bvnumber | BV020843451 |
| classification_rvk | ST 308 |
| ctrlnum | (OCoLC)633494654 (DE-599)BVBBV020843451 |
| dewey-full | 629.8932028563 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932028563 |
| dewey-search | 629.8932028563 |
| dewey-sort | 3629.8932028563 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV020843451 |
| illustrated | Illustrated |
| indexdate | 2024-12-20T12:24:18Z |
| institution | BVB |
| isbn | 9783540234463 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-014165288 |
| oclc_num | 633494654 |
| open_access_boolean | |
| owner | DE-573 DE-634 DE-11 |
| owner_facet | DE-573 DE-634 DE-11 |
| physical | XV, 288 S. Ill., graph. Darst. 235 mm x 155 mm |
| publishDate | 2005 |
| publishDateSearch | 2005 |
| publishDateSort | 2005 |
| publisher | Springer |
| record_format | marc |
| series2 | Cognitive technologies |
| spellingShingle | Patnaik, Srikanta Robot cognition and navigation an experiment with mobile robots Genetischer Algorithmus (DE-588)4265092-6 gnd Programmierumgebung (DE-588)4134837-0 gnd Mobiler Roboter (DE-588)4191911-7 gnd Maschinelles Sehen (DE-588)4129594-8 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Anwendungsprogramm (DE-588)4395354-2 gnd Soft Computing (DE-588)4455833-8 gnd Navigation (DE-588)4041457-7 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Bahnplanung (DE-588)4267628-9 gnd |
| subject_GND | (DE-588)4265092-6 (DE-588)4134837-0 (DE-588)4191911-7 (DE-588)4129594-8 (DE-588)4193754-5 (DE-588)4395354-2 (DE-588)4455833-8 (DE-588)4041457-7 (DE-588)7569134-6 (DE-588)4267628-9 |
| title | Robot cognition and navigation an experiment with mobile robots |
| title_auth | Robot cognition and navigation an experiment with mobile robots |
| title_exact_search | Robot cognition and navigation an experiment with mobile robots |
| title_full | Robot cognition and navigation an experiment with mobile robots Srikanta Patnaik |
| title_fullStr | Robot cognition and navigation an experiment with mobile robots Srikanta Patnaik |
| title_full_unstemmed | Robot cognition and navigation an experiment with mobile robots Srikanta Patnaik |
| title_short | Robot cognition and navigation |
| title_sort | robot cognition and navigation an experiment with mobile robots |
| title_sub | an experiment with mobile robots |
| topic | Genetischer Algorithmus (DE-588)4265092-6 gnd Programmierumgebung (DE-588)4134837-0 gnd Mobiler Roboter (DE-588)4191911-7 gnd Maschinelles Sehen (DE-588)4129594-8 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Anwendungsprogramm (DE-588)4395354-2 gnd Soft Computing (DE-588)4455833-8 gnd Navigation (DE-588)4041457-7 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Bahnplanung (DE-588)4267628-9 gnd |
| topic_facet | Genetischer Algorithmus Programmierumgebung Mobiler Roboter Maschinelles Sehen Maschinelles Lernen Anwendungsprogramm Soft Computing Navigation Lokalisierung Robotik Bahnplanung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=014165288&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT patnaiksrikanta robotcognitionandnavigationanexperimentwithmobilerobots |