Active sensors for local planning in mobile robotics / Penelope Probert Smith.

Format:

Book

Author/Creator:

Smith, Penelope Probert.

Series:

World Scientific series in robotics and intelligent systems ; v. 26.

World Scientific series in robotics and intelligent systems ; v. 26

Language:

English

Subjects (All):

Mobile robots.

Detectors.

Signal processing.

Physical Description:

1 online resource (337 p.)

Edition:

1st ed.

Place of Publication:

River Edge, NJ : World Scientific, 2001.

Language Note:

English

Summary:

This book describes recent work on active sensors for mobile robots. An active sensor interacts with its surroundings to supply data on demand for a particular function, gathering and abstracting information according to need rather than acting as a generic data gatherer. Details of the physical operation are hidden. The book deals mainly with active range sensors, which provide rapid information for local planning, describing extraction of two-dimensional features such as lines, corners and cylinders to reconstruct a plan of a building. It is structured according to the physical principles

Contents:

Contents ; Preface ; Acknowledgements ; Chapter 1 Introduction ; 1.1 Architectures for Planning and Perception ; 1.2 Range Sensing Technologies ; 1.3 Planning Demands ; Chapter 2 The Mapping and Localisation Problem ; 2.1 Simultaneous Localisation and Map Building

Chapter 3 Perception at Millimetre Wavelengths 3.1 Sensor Operation ; 3.2 The Sensor ; 3.3 Antenna Properties ; 3.4 Altering Aperture Shape ; 3.5 Target Properties ; 3.6 Attenuation in the Transmission Medium ; 3.7 Summary

Chapter 4 Advanced Sonar: Principles of Operation and Interpretation 4.1 Single Return Sonar ; 4.2 Advanced Sonar: The Sonar Signature ; 4.3 Acquiring the Sonar Signature ; 4.4 Summary ; Chapter 5 Smooth and Rough Target Modelling: Examples in Mapping and Texture Classification

5.1 Power Received by the Transducer 5.2 Smooth Surface Model ; 5.3 Rough Surface Planar Models ; 5.4 Mapping Heterogeneous Environments ; 5.5 Texture: Classifying Surfaces ; 5.6 Summary ; Chapter 6 Sonar Systems: A Biological Perspective ; 6.1 Introduction ; 6.2 Echo Formation

6.3 Monaural Sensing 6.4 Multi-Aural Sensing ; 6.5 Summary ; Chapter 7 Map Building from Range Data Using Mathematical Morphology ; 7.1 Introduction ; 7.2 Basics of Sonar Sensing ; 7.3 Processing of the Sonar Data ; 7.4 Experimental Verification ; 7.5 Discussion and Conclusions

Chapter 8 Millimetre Wave Radar for Robotics

Notes:

Description based upon print version of record.

Includes bibliographical references (p. 291-305) and index.

ISBN:

9786611956646

9781281956644

1281956643

9789812811141

9812811141

OCLC:

879074224