Mobile Robot Localization and Map Building

Released on by Jose A. Castellanos
preview-18

  • Mobile Robot Localization and Map Building Book Detail

  • Author : Jose A. Castellanos
  • Release Date : 2012-12-06
  • Publisher : Springer Science & Business Media
  • Genre : Technology & Engineering
  • Pages : 212
  • ISBN 13 : 146154405X
  • File Size : 44,44 MB
DOWNLOAD BOOK

Mobile Robot Localization and Map Building by Jose A. Castellanos PDF Summary

Book Description: 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.

Disclaimer: www.yourbookbest.com does not own Mobile Robot Localization and Map Building books pdf, neither created or scanned. We just provide the link that is already available on the internet, public domain and in Google Drive. If any way it violates the law or has any issues, then kindly mail us via contact us page to request the removal of the link.

Mobile Robot Localization and Map Building

Mobile Robot Localization and Map Building

File Size : 83,83 MB
Total View : 7447 Views
DOWNLOAD

During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial inte

Robot Localization and Map Building

Robot Localization and Map Building

File Size : 30,30 MB
Total View : 2862 Views
DOWNLOAD

Localization and mapping are the essence of successful navigation in mobile platform technology. Localization is a fundamental task in order to achieve high lev

Robot Localization and Map Building

Robot Localization and Map Building

File Size : 28,28 MB
Total View : 9938 Views
DOWNLOAD

Localization and mapping are the essence of successful navigation in mobile platform technology. Localization is a fundamental task in order to achieve high lev

Robotic Mapping and Exploration

Robotic Mapping and Exploration

File Size : 62,62 MB
Total View : 1908 Views
DOWNLOAD

"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been