Active Sensors For Local Planning In Mobile Robotics
by Penelope Probert Smith /
2001 / English / PDF
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This work 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.
This work 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.