Robotic Navigation and Mapping with Radar

ISBN-10: 160807482X
ISBN-13: 9781608074822
Category: Technology & Engineering
Pages: 346
Language: English
Published: 2012
Publisher: Artech House
Authors: Martin Adams, Ebi Jose

Description

Focusing on autonomous robotic applications, this cutting-edge resource offer you a practical treatment of short-range radar processing for reliable object detection at the ground level. This unique book demonstrates probabilistic radar models and detection algorithms specifically for robotic land vehicles. It examines grid based robotic mapping with radar based on measurement likelihood estimation. You find detailed coverage of simultaneous localization and Map Building (SLAM) – an area referred to as the "Holy Grail" of autonomous robotic research. The book derives an extended Kalman Filter SLAM algorithm which exploits the penetrating ability of radar. This algorithm allows for the observation of visually occluded objects, as well as the usual directly observed objects, which contributes to a robot's position and the map state update. Moreover, you discover how the Random Finite Set (RFS) provides a more appropriate approach for representing radar based maps than conventional frameworks.

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