Authonomous Domestic Navigation

ISBN-13: 9783639143898 / Angielski / Miękka / 2009 / 108 str.

Guido Zunino

Opis

Navigating autonomously in a domestic environment isa problem that has attracted a great deal of interestin mobile robotics. A robotic systemthat operates in ordinary furnished rooms without theneed of an engineered environment has many differentapplications such as service, cleaning andsurveillance tasks or simply entertainment. This bookdeals with the problem of SimultaneousLocalization and Mapping (SLAM). The mobile robotbuilds a map of an unexplored environment whilesimultaneously using this map to localizeitself. The feature based approach used in this bookutilizes the Extended Kalman Filter (EKF) machineryto estimate the pose of the robot and the location ofthe features. This approach is referred to asstochastic mapping.In addition, this book explores a method forrecovering from the most common mode of failure ofthe stochastic mapping approach.Finally, the book presents a method for achievingmore accurate navigation by using the architecturalproperties of most domestic environments.All the algorithms presented in this book have beentested and verified in real world experiments.

O autorze

Guido Zunino recevied the "laurea" degree in Electrical
engineering from the
University of Genoa, Italy, in 1999. He then joined the Centre
for Autonomous
Systems at the Royal Institute of Technology, Sweden. He has
worked on robust fusion of sensory information for navigation in
a domestic environment.