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Mobile Roboterlokalisierung und Kartenerstellung: Ein Multisensor-Fusionsansatz von Jos-

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Mobile Robot Localization and Map Building: A Multisensor Fusion Approach by Jos
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ISBN-13
9780792377894
Book Title
Mobile Robot Localization and Map Building
ISBN
9780792377894
Subject Area
Computers, Technology & Engineering
Publication Name
Mobile Robot Localization and Map Building : a Multisensor Fusion Approach
Item Length
9.3 in
Publisher
Springer
Subject
Automation, Mechanical, Intelligence (Ai) & Semantics, Robotics
Publication Year
2000
Type
Textbook
Format
Hardcover
Language
English
Author
Jose A. Castellanos, Juan D. Tardós
Item Width
6.1 in
Item Weight
38.4 Oz
Number of Pages
Xiii, 205 Pages

Über dieses Produkt

Product Information

During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial intelligence to perform some of the most hazardous, risky or monotonous tasks historically assigned to human beings. Among those machines, mobile robots are undoubtedly at the cutting edge of current research directions. A rough classification of mobile robots can be considered: on the one hand, mobile robots oriented to human-made indoor environments; on the other hand, mobile robots oriented to unstructured outdoor environments, which could include flying oriented robots, space-oriented robots and underwater robots. The most common motion mechanism for surface mobile robots is the wheel-based mechanism, adapted both to flat surfaces, found in human-made environments, and to rough terrain, found in outdoor environments. However, some researchers have reported successful developments with leg-based mobile robots capable of climbing up stairs, although they require further investigation. The research work presented here focuses on wheel-based mobile robots that navigate in human-made indoor environments. The main problems described throughout this book are: Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element. A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space. The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach. The book emphasizes the generality of the solutions proposed to the different problems and their independence with respect to the exteroceptive sensors mounted on the mobile robot. Theoretical results are complemented by real experiments, where the use of multisensor-based approaches is highlighted.

Product Identifiers

Publisher
Springer
ISBN-10
0792377893
ISBN-13
9780792377894
eBay Product ID (ePID)
1691974

Product Key Features

Author
Jose A. Castellanos, Juan D. Tardós
Publication Name
Mobile Robot Localization and Map Building : a Multisensor Fusion Approach
Format
Hardcover
Language
English
Subject
Automation, Mechanical, Intelligence (Ai) & Semantics, Robotics
Publication Year
2000
Type
Textbook
Subject Area
Computers, Technology & Engineering
Number of Pages
Xiii, 205 Pages

Dimensions

Item Length
9.3 in
Item Width
6.1 in
Item Weight
38.4 Oz

Additional Product Features

LCCN
00-020317
Number of Volumes
1 Vol.
Lc Classification Number
Tj212-225
Table of Content
Preface. Acknowledgements. 1. Introduction. 2. Uncertain Geometric Information. 3. Segment-based Representation of Indoor Environments. 4. Detecting High-Level Features by Multisensor Fusion. 5. The First-Location Problem. 6. Simultaneous Localization and Map Building. 7. Conclusions. A. Transformations and Jacobian Matrices in 2D. B. Operations with Uncertain Locations. C. Geometric Relations. D. Experimental Equipment. Bibliography. Index.
Copyright Date
1999
Target Audience
Scholarly & Professional
Dewey Decimal
629.8/92
Dewey Edition
21
Illustrated
Yes

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