Availability: Vision based autonomous robot navigation

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Bibliographic Details
Main Authors:	Chatterjee, Amitava (Author), Rakshit, Anjan (Author), Singh, N. Nirmal (Author)
Format:	Book
Language:	English
Published:	Berlin ; Heidelberg Springer 2013
Series:	Studies in computational intelligence 455
Subjects:	Autonomer Roboter Navigation Maschinelles Sehen
Links:	http://deposit.dnb.de/cgi-bin/dokserv?id=4121673&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025745705&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
Item Description:	Literaturangaben
Physical Description:	IX, 226 S. Ill., graph. Darst. 24 cm
ISBN:	9783642339646 3642339646

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Record in the Search Index

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adam_text	IMAGE 1 CONTENTS 1 MOBILE ROBOT NAVIGATION 1 1.1 AUTONOMOUS MOBILE ROBOT NAVIGATION 1 1.2 W H Y VISION IN NAVIGATION? 1 1.3 VISION-BASED NAVIGATION 3 1.3.1 VISION BASED INDOOR NAVIGATION 4 1.3.1.1 MAP-BASED NAVIGATION 4 1.3.1.2 MAP-BUILDING-BASED NAVIGATION 4 1.3.1.3 MAPLESS NAVIGATION 5 1.3.2 VISION BASED OUTDOOR NAVIGATION 6 1.4 STATE O F THE ART 6 1.5 OBSTACLE DETECTION AND AVOIDANCE 12 1.6 SUMMARY 14 REFERENCES 14 2 INTERFACING EXTERNAL PERIPHERALS WITH A MOBILE ROBOT 21 2.1 INTRODUCTION 21 2.2 PIC MICROCONTROLLER BASED SYSTEM FOR INTERFACING A VISION SYSTEM WITH A READY-MADE ROBOT 2 3 2.3 T H E INTEGRATED SYSTEM EMPLOYING K O A L A ROBOT WITH A P C AND A VISION SYSTEM 3 4 2.4 REAL-LIFE PERFORMANCE EVALUATION 3 9 2.5 SUMMARY 4 5 ACKNOWLEDGEMENT 4 5 REFERENCES 4 5 3 VISION-BASED MOBILE ROBOT NAVIGATION USING SUBGOALS 47 3.1 INTRODUCTION 4 7 3.2 T H E HARDWARE SETUP 4 9 3.3 A TWO-LAYER, GOAL ORIENTED NAVIGATION S C H E M E 52 3.4 IMAGE PROCESSING BASED EXPLORATION O F THE ENVIRONMENT IN LAYER 1 5 3 3.5 SHORTEST PATH COMPUTATION AND SUBGOAL GENERATION 5 8 3.6 IR BASED NAVIGATION IN LAYER 2 6 2 3.7 REAL-LIFE PERFORMANCE EVALUATION 63 3.8 SUMMARY 8 0 ACKNOWLEDGEMENT 81 REFERENCES 81 HTTP://D-NB.INFO/1025944186 IMAGE 2 VIII CONTENTS 4 INDIGENOUS DEVELOPMENT OF VISION-BASED MOBILE ROBOTS 83 4.1 INTRODUCTION 8 3 4.2 DEVELOPMENT O F A LOW-COST VISION BASED MOBILE ROBOT 8 4 4.3 DEVELOPMENT O F MICROCONTROLLER BASED SENSOR SYSTEMS FOR SUCH ROBOTS 85 4.3.1 IR RANGE FINDER SYSTEM WITH DYNAMIC RANGE ENHANCEMENT 85 4.3.1.1 T H E DYNAMIC RANGE ENHANCEMENT ALGORITHM 8 8 4.3.1.2 EXPERIMENTAL RESULTS 8 9 4.3.2 OPTICAL PROXIMITY DETECTORS USING SWITCHING-MODE SYNCHRONOUS DETECTION TECHNIQUE 8 9 4.3.2.1 PIC MICROCONTROLLER BASED OPTICAL PROXIMITY DETECTOR 9 0 4.3.2.2 SWITCHING M O D E SYNCHRONOUS DETECTION ( S M S D ) TECHNIQUE 9 4 4.3.2.3 EXPERIMENTAL RESULTS 9 6 4.4 T H E INTRANET-CONNECTIVITY FOR CLIENT-SERVER OPERATION 9 7 4.5 SUMMARY 9 9 REFERENCES 100 5 SAMPLE IMPLEMENTATIONS OF VISION-BASED MOBILE ROBOT ALGORITHMS 101 5.1 INTRODUCTION 101 5.2 LESSON 1 102 5.3 LESSON 2 108 5.4 LESSON 3 113 5.5 LESSON 4 116 5.6 LESSON 5 119 5.7 LESSON 6 124 5.8 LESSON 7 129 5.9 LESSON 8 132 5.10 LESSON 9 134 5.11 LESSON 10 137 5.12 SUMMARY 141 REFERENCES 142 6 VISION BASED MOBILE ROBOT PATH/LINE TRACKING 143 6.1 INTRODUCTION 143 6.2 A PREVIEW O F THE PROPOSED SCHEME 144 6.3 A FUZZY SYSTEM FOR VISION BASED ROBOT NAVIGATION 146 6.4 T H E IR-SENSOR BASED OBSTACLE AVOIDANCE BY EMPLOYING A FUZZY ALGORITHM 155 6.5 REAL-LIFE PERFORMANCE EVALUATION 158 6.6 SUMMARY 165 ACKNOWLEDGEMENT 165 REFERENCES 165 IMAGE 3 CONTENTS IX 7 SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) IN MOBILE ROBOTS 167 7.1 INTRODUCTION 167 7.2 EXTENDED KALMAN FILTER (EKF) BASED STOCHASTIC S L A M ALGORITHM 170 7.3 NEURO-FUZZY ASSISTANCE FOR E K F BASED S L A M 176 7.4 T H E NEURO-FUZZY ARCHITECTURE AND ITS TRAINING METHODOLOGY EMPLOYING PARTICLE S W A R M OPTIMIZATION (PSO) 180 7.4.1 ARCHITECTURE O F THE NEURO-FUZZY MODEL 180 7.4.2 TRAINING THE NEURO-FUZZY MODEL EMPLOYING P S O 181 7.4.3 PERFORMANCE EVALUATION 184 7.5 TRAINING A FUZZY SUPERVISOR EMPLOYING DIFFERENTIAL EVOLUTION (DE) BASED OPTIMIZATION 193 7.5.1 PERFORMANCE EVALUATION 194 7.6 SUMMARY 2 0 3 ACKNOWLEDGEMENT 2 0 3 REFERENCES 2 0 3 8 VISION BASED SLAM IN MOBILE ROBOTS 207 8.1 INTRODUCTION 2 0 7 8.2 T H E DYNAMIC STATE MODEL FOR THE DIFFERENTIAL DRIVE KOALA R O B O T 2 0 8 8.3 VISION SENSING BASED IMAGE FEATURE IDENTIFICATION, FEATURE TRACKING AND 3 D DISTANCE CALCULATION FOR EACH FEATURE 211 8.4 REAL-LIFE PERFORMANCE EVALUATION 2 1 5 8.5 SUMMARY 2 2 0 ACKNOWLEDGEMENT 221 REFERENCES 221 INDEX 223
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author	Chatterjee, Amitava Rakshit, Anjan Singh, N. Nirmal
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discipline	Informatik Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik
format	Book
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isbn	9783642339646 3642339646
language	English
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physical	IX, 226 S. Ill., graph. Darst. 24 cm
publishDate	2013
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series	Studies in computational intelligence
series2	Studies in computational intelligence
spellingShingle	Chatterjee, Amitava Rakshit, Anjan Singh, N. Nirmal Vision based autonomous robot navigation algorithms and implementations Studies in computational intelligence Autonomer Roboter (DE-588)4304075-5 gnd Navigation (DE-588)4041457-7 gnd Maschinelles Sehen (DE-588)4129594-8 gnd
subject_GND	(DE-588)4304075-5 (DE-588)4041457-7 (DE-588)4129594-8
title	Vision based autonomous robot navigation algorithms and implementations
title_auth	Vision based autonomous robot navigation algorithms and implementations
title_exact_search	Vision based autonomous robot navigation algorithms and implementations
title_full	Vision based autonomous robot navigation algorithms and implementations Amitava Chatterjee ; Anjan Rakshit ; N. Nirmal Singh
title_fullStr	Vision based autonomous robot navigation algorithms and implementations Amitava Chatterjee ; Anjan Rakshit ; N. Nirmal Singh
title_full_unstemmed	Vision based autonomous robot navigation algorithms and implementations Amitava Chatterjee ; Anjan Rakshit ; N. Nirmal Singh
title_short	Vision based autonomous robot navigation
title_sort	vision based autonomous robot navigation algorithms and implementations
title_sub	algorithms and implementations
topic	Autonomer Roboter (DE-588)4304075-5 gnd Navigation (DE-588)4041457-7 gnd Maschinelles Sehen (DE-588)4129594-8 gnd
topic_facet	Autonomer Roboter Navigation Maschinelles Sehen
url	http://deposit.dnb.de/cgi-bin/dokserv?id=4121673&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025745705&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
volume_link	(DE-604)BV020822171
work_keys_str_mv	AT chatterjeeamitava visionbasedautonomousrobotnavigationalgorithmsandimplementations AT rakshitanjan visionbasedautonomousrobotnavigationalgorithmsandimplementations AT singhnnirmal visionbasedautonomousrobotnavigationalgorithmsandimplementations

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Call Number:	0002 DAT 815f 2013 A 2411
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