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Titolo:
CONSTRUCTING MAPS FOR MOBILE ROBOT NAVIGATION BASED ON ULTRASONIC RANGE DATA
Autore:
KURZ A;
Indirizzi:
FH RHEINLAND PFALZ D-56075 KOBLENZ GERMANY
Titolo Testata:
IEEE transactions on systems, man and cybernetics. Part B. Cybernetics
fascicolo: 2, volume: 26, anno: 1996,
pagine: 233 - 242
SICI:
1083-4419(1996)26:2<233:CMFMRN>2.0.ZU;2-E
Fonte:
ISI
Lingua:
ENG
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
CompuMath Citation Index
Science Citation Index Expanded
Science Citation Index Expanded
Citazioni:
15
Recensione:
Indirizzi per estratti:
Citazione:
A. Kurz, "CONSTRUCTING MAPS FOR MOBILE ROBOT NAVIGATION BASED ON ULTRASONIC RANGE DATA", IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, 26(2), 1996, pp. 233-242

Abstract

This paper introduces an approach to generating environmental maps based on ultrasonic range data. By means of a learning classifier ultrasonic range data are condensed yielding abstract concepts which enable a mobile robot to discern situations. As a consequence the free-space can be partitioned into situation areas which are defined as regions wherein a specific situation can be recognized, Using dead-reckoning such situation areas can be attached to graph nodes generating a map of the free-space in the form of a graph representation. How the extendedKalman filter algorithm can be applied in this context to compensate the dead-reckoning drift is also discussed.

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Documento generato il 11/07/20 alle ore 15:44:46