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Look Inside The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot

The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot
An Experimental, Quantitative Evaluation


Part of Distinguished Dissertations in Computer Science

  • Date Published: September 2003
  • availability: Available
  • format: Paperback
  • isbn: 9780521542159

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About the Authors
  • 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.

    • Gives a thorough testing and evaluation of a variety of exploration strategies for a mobile robot
    • New way of predicting how robot uses its map to navigate
    • Gives examples of how new method works
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    Product details

    • Date Published: September 2003
    • format: Paperback
    • isbn: 9780521542159
    • length: 244 pages
    • dimensions: 247 x 189 x 15 mm
    • weight: 0.45kg
    • contains: 92 b/w illus. 23 tables
    • availability: Available
  • Table of Contents

    1. Question, context and method
    Part I. Starting Points:
    2. Maps used in previous research
    3. The maps used in this research
    4. Approaches to exploration
    Part II. System Components:
    5. The robot
    6. Modelling the sonar sensor
    7. Map construction
    8. Path planning
    9. Localisation
    10. Map quality metrics
    Part III. Experiments:
    11. Experimental evaluation
    12. Wall–following
    13. The results of localisation
    14 Supervised wall–following
    15. Can a human do any better? 16. Longest lines of sight
    17. Free space boundaries
    18. Summary of experimental results
    19. Conclusion
    20. Directions for further research

  • Author

    D. C. Lee, University of Oxford

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