1.

Record Nr.

UNINA9910824019203321

Autore

Smith Penelope Probert

Titolo

Active sensors for local planning in mobile robotics [[electronic resource] /] / Penelope Probert Smith

Pubbl/distr/stampa

River Edge, NJ, : World Scientific, 2001

ISBN

1-281-95664-3

9786611956646

981-281-114-1

Descrizione fisica

1 online resource (337 p.)

Collana

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

Disciplina

629.8/92

Soggetti

Mobile robots

Detectors

Signal processing

Lingua di pubblicazione

Inglese

Formato

Materiale a stampa

Livello bibliografico

Monografia

Note generali

Description based upon print version of record.

Nota di bibliografia

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

Nota di contenuto

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

Sommario/riassunto

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