Sensor Modelling, Design And Data Processing For Autonomous Navigation

By: Martin David Adams

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Hardcover | 5 February 1999

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Hardcover
256 Pages

Dimensions(cm)
22.86 x 15.88 x 1.27

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This invaluable book presents an unbiased framework for modelling and using sensors to aid mobile robot navigation. It addresses the problem of accurate and reliable sensing in confined environments and makes a detailed analysis of the design and construction of a low cost optical range finder. This is followed by a quantitative model for determining the sources and propagation of noise within the sensor. The physics behind the causes of erroneous data is also used to derive a model for detecting and labelling such data as false. In addition, the author's data-processing algorithms are applied to the problem of environmental feature extraction. This forms the basis of a solution to the problem of mobile robot localisation. The book develops a relationship between the kinematics of a mobile robot during the execution of successive manoeuvres, and the sensed features. Results which update a mobile vehicle's position using features from 2D and 3D scans are presented.

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Preface
Acknowledgments
List of Figures
Introduction	p. 1
Sensor Design and Modelling	p. 11
Range Sensing in Confined Environments	p. 13
Lidar Sensor Design - Electronic Requirements	p. 40
Lidar Sensor Design - Mechanical and Optical Requirements	p. 80
Quantitative Sensor Modelling - Noise Analysis	p. 105
Qualitative Sensor Modelling - False Data	p. 126
Mobile Robot Navigation Oriented Signal Processing	p. 151
Environmental Feature Extraction	p. 153
Sensor Driven Mobile Robot Localisation	p. 168
Application: Mobile Robot Path Planning	p. 190
Conclusions and Future Research Directives	p. 200
Discontinuity Detection - Second Differential S as a Function of Time	p. 206
Bibliography	p. 209
Index	p. 222
Table of Contents provided by Blackwell. All Rights Reserved.

Sensor Modelling, Design And Data Processing For Autonomous Navigation

At a Glance

Hardcover

Shipping

How to return your order

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