Map-building and Exploration Strategies of a Simple Sonar-equipped Mobile Robot by D. C. Lee
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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

An Experimental, Quantitative Evaluation

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Format: Paperback

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Map-building and Exploration Strategies of a Simple Sonar-equipped Mobile Robot by D. C. Lee

Book 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.

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Book Details

ISBN: 9780521542159
ISBN-10: 0521542154
Format: Paperback
(247mm x 174mm x 13mm)
Pages: 244
Imprint: Cambridge University Press
Publisher: Cambridge University Press
Publish Date: 18-Sep-2003
Country of Publication: United Kingdom

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