000 02396nam a22003858i 4500
001 CR9780511526640
003 UkCbUP
005 20200124160237.0
006 m|||||o||d||||||||
007 cr||||||||||||
008 090407s1996||||enk o ||1 0|eng|d
020 _a9780511526640 (ebook)
020 _z9780521573313 (hardback)
020 _z9780521542159 (paperback)
040 _aUkCbUP
_beng
_erda
_cUkCbUP
050 0 0 _aTJ211.415
_b.L44 1996
082 0 0 _a629.8/92
_220
100 1 _aLee, David,
_d1956-
_eauthor.
245 1 4 _aThe map-building and exploration strategies of a simple sonar-equipped robot :
_ban experimental, quantitative evaluation /
_cDavid Lee.
246 3 _aThe Map-Building & Exploration Strategies of a Simple Sonar-Equipped Mobile Robot
264 1 _aCambridge :
_bCambridge University Press,
_c1996.
300 _a1 online resource (xi, 228 pages) :
_bdigital, PDF file(s).
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
490 1 _aDistinguished dissertations in computer science
500 _aTitle from publisher's bibliographic system (viewed on 05 Oct 2015).
520 _aThere are two radically different approaches to robot navigation: the first is to use a map of the robot's environment; the second uses a set of action reflexes to enable a robot to react rapidly to local sensory information. Hybrid approaches combining features of both also exist. This book is the first to propose a method for evaluating the different approaches that shows how to decide which is the most appropriate for a given situation. It begins by describing a complete implementation of a mobile robot including sensor modelling, map-building (a feature-based map and a grid-based free-space map), localisation, and path-planning. Exploration strategies are then tested experimentally in a range of environments and starting positions. The author shows the most promising results are observed from hybrid exploration strategies which combine the robustness of reactive navigation and the directive power of map-based strategies.
650 0 _aMobile robots.
650 0 _aRobots
_xControl systems.
650 0 _aSonar.
776 0 8 _iPrint version:
_z9780521573313
830 0 _aDistinguished dissertations in computer science.
856 4 0 _uhttps://doi.org/10.1017/CBO9780511526640
999 _c518142
_d518140