Robotic Navigation and Mapping with Radar PDF Download
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Author: Martin Adams
Publisher: Artech House
ISBN: 160807482X
Category : Technology & Engineering
Languages : en
Pages : 378
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Book Description
A practical treatment of short-range radar processing for reliable object detection at ground level.
Author: Martin Adams
Publisher: Artech House
ISBN: 160807482X
Category : Technology & Engineering
Languages : en
Pages : 378
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Book Description
A practical treatment of short-range radar processing for reliable object detection at ground level.
Author: Penelope Probert Smith
Publisher: World Scientific
ISBN: 9812811141
Category : Technology & Engineering
Languages : en
Pages : 337
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Book Description
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.
Author: Gerald Cook
Publisher: John Wiley & Sons
ISBN: 111953478X
Category : Technology & Engineering
Languages : en
Pages : 353
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Book Description
Presents the normal kinematic and dynamic equations for robots, including mobile robots, with coordinate transformations and various control strategies This fully updated edition examines the use of mobile robots for sensing objects of interest, and focus primarily on control, navigation, and remote sensing. It also includes an entirely new section on modeling and control of autonomous underwater vehicles (AUVs), which exhibits unique complex three-dimensional dynamics. Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs, Second Edition starts with a chapter on kinematic models for mobile robots. It then offers a detailed chapter on robot control, examining several different configurations of mobile robots. Following sections look at robot attitude and navigation. The application of Kalman Filtering is covered. Readers are also provided with a section on remote sensing and sensors. Other chapters discuss: target tracking, including multiple targets with multiple sensors; obstacle mapping and its application to robot navigation; operating a robotic manipulator; and remote sensing via UAVs. The last two sections deal with the dynamics modeling of AUVs and control of AUVs. In addition, this text: Includes two new chapters dealing with control of underwater vehicles Covers control schemes including linearization and use of linear control design methods, Lyapunov stability theory, and more Addresses the problem of ground registration of detected objects of interest given their pixel coordinates in the sensor frame Analyzes geo-registration errors as a function of sensor precision and sensor pointing uncertainty Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs is intended for use as a textbook for a graduate course of the same title and can also serve as a reference book for practicing engineers working in related areas.
Author: Timothy D. Barfoot
Publisher: Cambridge University Press
ISBN: 1107159393
Category : Computers
Languages : en
Pages : 381
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Book Description
A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
Author: John Stephen Mullane
Publisher: Springer Science & Business Media
ISBN: 3642213898
Category : Technology & Engineering
Languages : en
Pages : 161
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Book Description
The monograph written by John Mullane, Ba-Ngu Vo, Martin Adams and Ba-Tuong Vo is devoted to the field of autonomous robot systems, which have been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the problem of representing the environment and its uncertainty in terms of feature based maps. Random Finite Sets are adopted as the fundamental tool to represent a map, and a general framework is proposed for feature management, data association and state estimation. The approaches are tested in a number of experiments on both ground based and marine based facilities.
Author: Boris A. Atayants
Publisher: Artech House
ISBN: 1608077381
Category : Technology & Engineering
Languages : en
Pages : 361
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Book Description
This book describes methods for making accurate radar measurements of short distances in applications where physical contact with materials is impractical. Sources of error are identified, and methods of reducing these errors are described. Practical test procedures for measuring instruments are also provided. Much of the book is dedicated to providing radar engineers with practical applications, detailing the conditions, equipment, and approach of experimental estimation. With the help of computer simulation, the achievable advantages in accuracy of radar range measurement with various approaches are revealed and quantitatively estimated. Readers are also provided with methods of random process theory and mathematical statistics, along with functional analysis and optimization.
Author: Shaoshan Liu
Publisher: John Wiley & Sons
ISBN: 1119570565
Category : Computers
Languages : en
Pages : 214
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Book Description
Offers a step-by-step guide to building autonomous vehicles and robots, with source code and accompanying videos The first book of its kind on the detailed steps for creating an autonomous vehicle or robot, this book provides an overview of the technology and introduction of the key elements involved in developing autonomous vehicles, and offers an excellent introduction to the basics for someone new to the topic of autonomous vehicles and the innovative, modular-based engineering approach called DragonFly. Engineering Autonomous Vehicles and Robots: The DragonFly Modular-based Approach covers everything that technical professionals need to know about: CAN bus, chassis, sonars, radars, GNSS, computer vision, localization, perception, motion planning, and more. Particularly, it covers Computer Vision for active perception and localization, as well as mapping and motion planning. The book offers several case studies on the building of an autonomous passenger pod, bus, and vending robot. It features a large amount of supplementary material, including the standard protocol and sample codes for chassis, sonar, and radar. GPSD protocol/NMEA protocol and GPS deployment methods are also provided. Most importantly, readers will learn the philosophy behind the DragonFly modular-based design approach, which empowers readers to design and build their own autonomous vehicles and robots with flexibility and affordability. Offers progressive guidance on building autonomous vehicles and robots Provides detailed steps and codes to create an autonomous machine, at affordable cost, and with a modular approach Written by one of the pioneers in the field building autonomous vehicles Includes case studies, source code, and state-of-the art research results Accompanied by a website with supplementary material, including sample code for chassis/sonar/radar; GPS deployment methods; Vision Calibration methods Engineering Autonomous Vehicles and Robots is an excellent book for students, researchers, and practitioners in the field of autonomous vehicles and robots.
Author: Branko Ristic
Publisher: Springer Science & Business Media
ISBN: 1461463165
Category : Technology & Engineering
Languages : en
Pages : 184
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Book Description
This book discusses state estimation of stochastic dynamic systems from noisy measurements, specifically sequential Bayesian estimation and nonlinear or stochastic filtering. The class of solutions presented in this book is based on the Monte Carlo statistical method. Although the resulting algorithms, known as particle filters, have been around for more than a decade, the recent theoretical developments of sequential Bayesian estimation in the framework of random set theory have provided new opportunities which are not widely known and are covered in this book. This book is ideal for graduate students, researchers, scientists and engineers interested in Bayesian estimation.
Author: Liuping Wang
Publisher: Springer Science & Business Media
ISBN: 1848823312
Category : Technology & Engineering
Languages : en
Pages : 398
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Book Description
Model Predictive Control System Design and Implementation Using MATLAB® proposes methods for design and implementation of MPC systems using basis functions that confer the following advantages: - continuous- and discrete-time MPC problems solved in similar design frameworks; - a parsimonious parametric representation of the control trajectory gives rise to computationally efficient algorithms and better on-line performance; and - a more general discrete-time representation of MPC design that becomes identical to the traditional approach for an appropriate choice of parameters. After the theoretical presentation, coverage is given to three industrial applications. The subject of quadratic programming, often associated with the core optimization algorithms of MPC is also introduced and explained. The technical contents of this book is mainly based on advances in MPC using state-space models and basis functions. This volume includes numerous analytical examples and problems and MATLAB® programs and exercises.
Author: Roland Siegwart
Publisher: MIT Press
ISBN: 0262015358
Category : Computers
Languages : en
Pages : 473
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Book Description
The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
