Sensor Modelling, Design and Data Processing for Autonomous Navigation

Presents a framework for modeling and using sensors to aid mobile robot navigation. Addresses the problem of accurate sensing in confined environments and makes a detailed analysis of the design and construction of a low-cost optical range finder. Provides a quantitative model for determining the sources and propagation of noise within the sensor, and uses the physics behind the causes of erroneous data to derive a model for detecting and labeling such data. Data processing algorithms are applied to the problem of environmental feature extraction to form the basis of a solution to problems of mobile robot localization. Includes color and b&w photos of equipment. Annotation c. Book News, Inc., Portland, OR (booknews.com)