05236nam 2200697Ia 450 991082401920332120200520144314.01-281-95664-39786611956646981-281-114-1(CKB)1000000000537993(EBL)1679732(OCoLC)879074224(SSID)ssj0000096924(PQKBManifestationID)11128049(PQKBTitleCode)TC0000096924(PQKBWorkID)10111947(PQKB)10008007(MiAaPQ)EBC1679732(WSP)00004752(Au-PeEL)EBL1679732(CaPaEBR)ebr10255993(CaONFJC)MIL195664(PPN)229009085(EXLCZ)99100000000053799320020318d2001 uy 0engur|n|---|||||txtccrActive sensors for local planning in mobile robotics[electronic resource] /Penelope Probert SmithRiver Edge, NJ World Scientific20011 online resource (337 p.)World Scientific series in robotics and intelligent systems ;v. 26Description based upon print version of record.981-02-4681-1 Includes bibliographical references (p. 291-305) and index.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 BuildingChapter 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 SummaryChapter 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 Classification5.1 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 Formation6.3 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 ConclusionsChapter 8 Millimetre Wave Radar for Robotics 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 World Scientific series in robotics and intelligent systems ;v. 26.Mobile robotsDetectorsSignal processingMobile robots.Detectors.Signal processing.629.8/92Smith Penelope Probert1633991MiAaPQMiAaPQMiAaPQBOOK9910824019203321Active sensors for local planning in mobile robotics3974024UNINA