Directed Sonar Sensing for Mobile Robot Navigation

This monograph is a revised version of the D.Phil. thesis of the first author, submitted in October 1990 to the University of Oxford. This work investigates the problem of mobile robot navigation using sonar.

Author: John J. Leonard

Publisher: Springer Science & Business Media

ISBN: 9781461536529

Category: Technology & Engineering

Page: 183

View: 318


This monograph is a revised version of the D.Phil. thesis of the first author, submitted in October 1990 to the University of Oxford. This work investigates the problem of mobile robot navigation using sonar. We view model-based navigation as a process of tracking naturally occurring environment features, which we refer to as "targets". Targets that have been predicted from the environment map are tracked to provide that are observed, but not predicted, vehicle position estimates. Targets represent unknown environment features or obstacles, and cause new tracks to be initiated, classified, and ultimately integrated into the map. Chapter 1 presents a brief definition of the problem and a discussion of the basic research issues involved. No attempt is made to survey ex haustively the mobile robot navigation literature-the reader is strongly encouraged to consult other sources. The recent collection edited by Cox and Wilfong [34] is an excellent starting point, as it contains many of the standard works of the field. Also, we assume familiarity with the Kalman filter. There are many well-known texts on the subject; our notation derives from Bar-Shalom and Fortmann [7]. Chapter 2 provides a detailed sonar sensor model. A good sensor model of our approach to navigation, and is used both for is a crucial component predicting expected observations and classifying unexpected observations.

Autonome Mobile Systeme 1994

Beide Sensorsysteme arbeiten kooperativ bei der Lösung navigationsspezifischer Probleme zusammen, ... [11] J. Leonard, H.F. Durrant-Whyte, Directed sonar sensing for mobile robot navigation, Kluwer Academic Publishers, 1992.

Author: Paul Levi

Publisher: Springer-Verlag

ISBN: 9783642792670

Category: Computers

Page: 361

View: 519


Active Sensors for Local Planning in Mobile Robotics

Directed Sonar Sensing for Mobile Robot Navigation. Kluwer Academic Publishers, 1992. J. Leonard and H. Durrant Whyte. Mobile robot localisation by tracking geometric beacons. IEEE Transactions on Robotics and Automation, pages 286–298, ...

Author: Penelope Probert Smith

Publisher: World Scientific

ISBN: 9789812811141

Category: Technology & Engineering

Page: 336

View: 841


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 of the sensors, since to a large extent these determine the function of the sensors and the methods of processing. Recent work using sonar, optoelectronic sensors and radar is described. Sections on vision and on sensor management develop the idea of software adaptation for efficient operation in a changing environment. Contents: The Mapping and Localisation Problem; Perception at Millimetre Wavelengths; Advanced Sonar: Principles of Operation and Interpretation; Smooth and Rough Target Modelling: Examples in Mapping and Texture Classification; Sonar Systems: A Biological Perspective; Map Building from Range Data Using Mathematical Morphology; Millimetre Wave Radar for Robotics; Optoelectronic Range Sensors; AMCW LIDAR Range Acquisition; Extracting Lines and Curves from Optoelectronic Range Data; Active Vision for Mobile Robot Navigation; Strategies for Active Sensor Management. Readership: Graduate students and final year undergraduate students in electrical and electronic engineering, systems and knowledge, robotics, image processing and artificial intelligence.

Advanced Robotics Intelligent Machines

7.6 Acknowledgements We thank fellow members of the Robotics Research Group for providing us with sensor data : Nick Pears and Mike Brownlow ( who ... and DURRANT - WHYTE , H.F. Directed Sonar Sensing for Mobile Robot Navigation .

Author: Institution of Electrical Engineers

Publisher: IET

ISBN: 0852968531

Category: Technology & Engineering

Page: 374

View: 438


Advanced robotics' describes the use of sensor-based robotic devices which exploit powerful computers to achieve the high levels of functionality that begin to mimic intelligent human behaviour. The object of this book is to summarise developments in the base technologies, survey recent applications and highlight new advanced concepts which will influence future progress. I. Technologies (Recent developments in advanced robotics and intelligent systems; Machine intelligence - architectures, controllers and applications; Advanced control systems for robotic arms; Intelligent gripping systems; Force feedback control in robots applied to decommissioning; Tele-presence control of robots; Sensing and sensor management for planning); II Applications (Robotics in the nuclear industry; Robots in surgery; Intelligent autonomous systems for cars; Walking machine technology; Handling of flexible materials in automation; Robotics in food manufacturing; Robotic milking; Error-free semiconductor wafer handling); III Advanced concepts and procedures (The concept of robot society and its utilisation; Miniature and microrobotics; Characteristics of robot behavior; A behaviour synthesis architecture for co-operant mobile robots; Co-operant behaviour in multiple manipulators; Neural networks in automation procedures; Parallel processing, neural networks and genetic algorithms for real-time robot control); Index.

Sensors for Mobile Robots

Lang, S., Korba, L., Wong, A., “Characterizing and Modeling a Sonar Ring,” SPIE Mobile Robots IV, Philadelphia, PA, pp. 291-304, 1989. Leonard, J.J., Durrant-Whyte, H.F., Directed Sonar Sensing for Mobile Robot Navigation, ...

Author: H.R. Everett

Publisher: CRC Press

ISBN: 9781439863480

Category: Technology & Engineering

Page: 544

View: 616


The author compiles everything a student or experienced developmental engineer needs to know about the supporting technologies associated with the rapidly evolving field of robotics. From the table of contents: Design Considerations * Dead Reckoning * Odometry Sensors * Doppler and Inertial Navigation * Typical Mobility Configurations * Tactile and Proximity Sensing * Triangulation Ranging * Stereo Disparity * Active Triangulation * Active Stereoscopic * Hermies * Structured Light * Known Target Size * Time of Flight * Phase-Shift Measurement * Frequency Modulation * Interferometry * Range from Focus * Return Signal Intensity * Acoustical Energy * Electromagnetic Energy * Optical Energy * Microwave Radar * Collision Avoidance * Guidepath Following * Position-Location Systems * Ultrasonic and Optical Position-Location Systems * Wall, Doorway, andCeiling Referencing * Application-Specific Mission Sensors

Intelligent Mobile Robot Navigation

J. Leonard and H.F. Durrant - Whyte , Directed Sonar Sensing For Mobile Robot Navigation , Kluwer Academic Publishers , Boston , 1992 . 100. L. Lisowski , S. Fauconnier and M. Parent “ Specifications of a Small Electric Vehicle .

Author: Federico Cuesta

Publisher: Springer Science & Business Media

ISBN: 3540239561

Category: Technology & Engineering

Page: 204

View: 217


Intelligent Mobile Robot Navigation builds upon the application of fuzzy logic to the area of intelligent control of mobile robots. Reactive, planned, and teleoperated techniques are considered, leading to the development of novel fuzzy control systems for perception and navigation of nonholonomic autonomous vehicles. The unique feature of this monograph lies in its comprehensive treatment of the problem, from the theoretical development of the various schemes down to the real-time implementation of algorithms on mobile robot prototypes. As such, the book spans different domains ranging from mobile robots to intelligent transportation systems, from automatic control to artificial intelligence.

The Map Building and Exploration Strategies of a Simple Sonar Equipped Mobile Robot

A Physically Based Navigation Strategy for Sonar - Guided Vehicles . ... Spatial Learning Mobile Robot . In Sensor Fusion : Spatial Reasoning and Scene Interpretation , 366-375 . ... Directed Sonar Sensing for Mobile Robot Navigation .

Author: D. C. Lee

Publisher: Cambridge University Press

ISBN: 0521542154

Category: Computers

Page: 244

View: 295


First book to describe a way of determining the best method to use to enable a robot to navigate.

Autonome Mobile Systeme 1996

Den Abstandswerten des Sensors wurde volles Vertrauen zugebilligt, was zu fehlerfreien und unkorrelierten Modellparametern führte. In Wahrheit besitzen die Abstandswerte ... Mobile Robot Navigation", Kluwer Academic Publishers, 1992.

Author: Günther Schmidt

Publisher: Springer-Verlag

ISBN: 9783642803246

Category: Computers

Page: 365

View: 136


mit Sonderbeiträgen zu den technischen Demonstrationen aus dem Sonderforschungsbereich 331 "Informationsbearbeitung in autonomen, mobilen Handhabungssystemen" an der Technischen Universität München

Computational Principles of Mobile Robotics

Mobile robot localization by tracking geometric beacons. IEEE Transactions on Robotics and Automation, 7:376–382, 1991. [363] J. J. Leonard and H. F. Durrant-Whyte. Directed Sonar Sensing for Mobile Robot Navigation.

Author: Gregory Dudek

Publisher: Cambridge University Press

ISBN: 9780521692120

Category: Computers

Page: 391

View: 317


An advanced undergraduate/graduate text, emphasizing computation and algorithms for locomotion, sensing, and reasoning in mobile robots.

Sensor Modelling Design and Data Processing for Autonomous Navigation

A method of acoustic landmark extraction for mobile robot navigation. IEEE J. Robotics and Automation, 12(3), 1996. [93] W. D. Koenigsburg. Noncontact distance sensor technology. ... Directed Sonar Sensing for Mobile Robot Navigation.

Author: Martin David Adams

Publisher: World Scientific

ISBN: 9789814496070

Category: Technology & Engineering

Page: 256

View: 947


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. Contents:Sensor Design and Modelling:Range Sensing in Confined EnvironmentsLidar Sensor Design — Electronic RequirementsLidar Sensor Design — Mechanical and Optical RequirementsQuantitative Sensor Modelling — Noise AnalysisQualitative Sensor Modelling — False DataMobile Robot Navigation Oriented Signal Processing:Environmental Feature ExtractionSensor Driven Mobile Robot LocalisationApplication: Mobile Robot Path PlanningConclusions and Future Research Directives Readership: Practitioners and researchers in robotics and artificial intelligence. Keywords:Autonomous Navigation;Mobile Robotics;LIDAR;LADAR;Sensor Modelling;Feature Detection;Multiple Path Effects;Robot Localisation;Feature Matching