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The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot by D.C. Lee
The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot by D.C. Lee
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The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot

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Description

There 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.
Release date NZ
September 18th, 2003
Author
Audience
  • Professional & Vocational
Illustrations
23 Tables, unspecified; 1 Halftones, unspecified; 91 Line drawings, unspecified
Pages
244
Dimensions
189x247x15
ISBN-13
9780521542159
Product ID
2397810

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