Sensor Modelling, Design and Data Processing for Autonomous Navigation

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World Scientific, 1999 - Computers - 232 pages
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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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Contents

Introduction
1
Range Sensing in Confined Environments
13
Lidar Sensor Design Electronic Requirements
40
Lidar Sensor Design Mechanical and Optical
80
Quantitative Sensor Modelling Noise Analysis
105
Qualitative Sensor Modelling False Data
126
Mobile Robot Navigation Oriented Signal Processing
151
Sensor Driven Mobile Robot Localisation
168
Mobile Robot Path Planning
190
Conclusions and Future Research Directives
200
Index
222
Copyright

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