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

• Autore: Smith Penelope Probert
• Pubblicazione: River Edge, NJ, : World Scientific, 2001
• Edizione: 1st ed.
• Descrizione fisica: 1 online resource (337 p.)
• Disciplina: 629.8/92
• Soggetto topico: Mobile robots; Detectors; Signal processing
• 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
• Titolo autorizzato: Active sensors for local planning in mobile robotics
• ISBN: 1-281-95664-3; 9786611956646; 981-281-114-1
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910824019203321
• Lo trovi qui: Univ. Federico II
• Serie: World Scientific series in robotics and intelligent systems ; ; v. 26.