Directed Sonar Sensing for Mobile Robot Navigation (1992)
| Citations: | 212 - 24 self |
BibTeX
@MISC{Leonard92directedsonar,
author = {John J. Leonard and Hugh F. Durrant-Whyte and Ox Pj},
title = {Directed Sonar Sensing for Mobile Robot Navigation},
year = {1992}
}
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Abstract
Contents List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv List of Abbreviations and Symbols . . . . . . . . . . . . . . . . . xvii Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix 1 Introduction 1 1.1 The Navigation Problem . . . . . . . . . . . . . . . . . . . . 1 1.2 Why Use Sonar? . . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Choosing a Representation . . . . . . . . . . . . . . . . . . . 3 1.4 The Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . 5 1.5 Data Association . . . . . . . . . . . . . . . . . . . . . . . . 10 1.6 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2 A Sonar Sensor Model 13 2.2 Previous Work . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.3 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.4 The Physics of Sonar . . . . . . . . . . . . . . . . . . . . . . 17 2.5 Predi
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