Directed Sonar Sensing for Mobile Robot Navigation:
This monograph is a revised version of the D.Phil. thesis of the first author, submitted in October 1990 to the University of Oxford. This work investigates the problem of mobile robot navigation using sonar. We view model-based navigation as a process of tracking naturally occurring environment fea...
Gespeichert in:
| Beteiligte Personen: | , |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | Englisch |
| Veröffentlicht: |
Boston, MA
Springer US
1992
|
| Schriftenreihe: | The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors
175 |
| Schlagwörter: | |
| Links: | https://doi.org/10.1007/978-1-4615-3652-9 https://doi.org/10.1007/978-1-4615-3652-9 |
| Zusammenfassung: | This monograph is a revised version of the D.Phil. thesis of the first author, submitted in October 1990 to the University of Oxford. This work investigates the problem of mobile robot navigation using sonar. We view model-based navigation as a process of tracking naturally occurring environment features, which we refer to as "targets". Targets that have been predicted from the environment map are tracked to provide that are observed, but not predicted, vehicle position estimates. Targets represent unknown environment features or obstacles, and cause new tracks to be initiated, classified, and ultimately integrated into the map. Chapter 1 presents a brief definition of the problem and a discussion of the basic research issues involved. No attempt is made to survey ex haustively the mobile robot navigation literature-the reader is strongly encouraged to consult other sources. The recent collection edited by Cox and Wilfong [34] is an excellent starting point, as it contains many of the standard works of the field. Also, we assume familiarity with the Kalman filter. There are many well-known texts on the subject; our notation derives from Bar-Shalom and Fortmann [7]. Chapter 2 provides a detailed sonar sensor model. A good sensor model of our approach to navigation, and is used both for is a crucial component predicting expected observations and classifying unexpected observations |
| Umfang: | 1 Online-Ressource (XXI, 183 p) |
| ISBN: | 9781461536529 |
| DOI: | 10.1007/978-1-4615-3652-9 |
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| 520 | |a This monograph is a revised version of the D.Phil. thesis of the first author, submitted in October 1990 to the University of Oxford. This work investigates the problem of mobile robot navigation using sonar. We view model-based navigation as a process of tracking naturally occurring environment features, which we refer to as "targets". Targets that have been predicted from the environment map are tracked to provide that are observed, but not predicted, vehicle position estimates. Targets represent unknown environment features or obstacles, and cause new tracks to be initiated, classified, and ultimately integrated into the map. Chapter 1 presents a brief definition of the problem and a discussion of the basic research issues involved. No attempt is made to survey ex haustively the mobile robot navigation literature-the reader is strongly encouraged to consult other sources. The recent collection edited by Cox and Wilfong [34] is an excellent starting point, as it contains many of the standard works of the field. Also, we assume familiarity with the Kalman filter. There are many well-known texts on the subject; our notation derives from Bar-Shalom and Fortmann [7]. Chapter 2 provides a detailed sonar sensor model. A good sensor model of our approach to navigation, and is used both for is a crucial component predicting expected observations and classifying unexpected observations | ||
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Datensatz im Suchindex
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| author | Leonard, John J. Durrant-Whyte, Hugh F. |
| author_facet | Leonard, John J. Durrant-Whyte, Hugh F. |
| author_role | aut aut |
| author_sort | Leonard, John J. |
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| bvnumber | BV045187326 |
| collection | ZDB-2-ENG |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/978-1-4615-3652-9 |
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| indexdate | 2024-12-20T18:20:13Z |
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| spelling | Leonard, John J. Verfasser aut Directed Sonar Sensing for Mobile Robot Navigation by John J. Leonard, Hugh F. Durrant-Whyte Boston, MA Springer US 1992 1 Online-Ressource (XXI, 183 p) txt rdacontent c rdamedia cr rdacarrier The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors 175 This monograph is a revised version of the D.Phil. thesis of the first author, submitted in October 1990 to the University of Oxford. This work investigates the problem of mobile robot navigation using sonar. We view model-based navigation as a process of tracking naturally occurring environment features, which we refer to as "targets". Targets that have been predicted from the environment map are tracked to provide that are observed, but not predicted, vehicle position estimates. Targets represent unknown environment features or obstacles, and cause new tracks to be initiated, classified, and ultimately integrated into the map. Chapter 1 presents a brief definition of the problem and a discussion of the basic research issues involved. No attempt is made to survey ex haustively the mobile robot navigation literature-the reader is strongly encouraged to consult other sources. The recent collection edited by Cox and Wilfong [34] is an excellent starting point, as it contains many of the standard works of the field. Also, we assume familiarity with the Kalman filter. There are many well-known texts on the subject; our notation derives from Bar-Shalom and Fortmann [7]. Chapter 2 provides a detailed sonar sensor model. A good sensor model of our approach to navigation, and is used both for is a crucial component predicting expected observations and classifying unexpected observations Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Artificial intelligence Computer graphics Control engineering Robotics Mechatronics Sonar (DE-588)4181785-0 gnd rswk-swf Navigation (DE-588)4041457-7 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf 1\p (DE-588)4113937-9 Hochschulschrift gnd-content Mobiler Roboter (DE-588)4191911-7 s Navigation (DE-588)4041457-7 s Sonar (DE-588)4181785-0 s 2\p DE-604 Durrant-Whyte, Hugh F. aut Erscheint auch als Druck-Ausgabe 9781461366256 https://doi.org/10.1007/978-1-4615-3652-9 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 2\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Leonard, John J. Durrant-Whyte, Hugh F. Directed Sonar Sensing for Mobile Robot Navigation Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Artificial intelligence Computer graphics Control engineering Robotics Mechatronics Sonar (DE-588)4181785-0 gnd Navigation (DE-588)4041457-7 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| subject_GND | (DE-588)4181785-0 (DE-588)4041457-7 (DE-588)4191911-7 (DE-588)4113937-9 |
| title | Directed Sonar Sensing for Mobile Robot Navigation |
| title_auth | Directed Sonar Sensing for Mobile Robot Navigation |
| title_exact_search | Directed Sonar Sensing for Mobile Robot Navigation |
| title_full | Directed Sonar Sensing for Mobile Robot Navigation by John J. Leonard, Hugh F. Durrant-Whyte |
| title_fullStr | Directed Sonar Sensing for Mobile Robot Navigation by John J. Leonard, Hugh F. Durrant-Whyte |
| title_full_unstemmed | Directed Sonar Sensing for Mobile Robot Navigation by John J. Leonard, Hugh F. Durrant-Whyte |
| title_short | Directed Sonar Sensing for Mobile Robot Navigation |
| title_sort | directed sonar sensing for mobile robot navigation |
| topic | Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Artificial intelligence Computer graphics Control engineering Robotics Mechatronics Sonar (DE-588)4181785-0 gnd Navigation (DE-588)4041457-7 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| topic_facet | Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Artificial intelligence Computer graphics Control engineering Robotics Mechatronics Sonar Navigation Mobiler Roboter Hochschulschrift |
| url | https://doi.org/10.1007/978-1-4615-3652-9 |
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