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56 Autonomous Mobile Robots
(a) 8000
7000
6000
5000
Number 4000
3000
2000
1000
0
–15 –14 –13 –12 –11 –10 –9 –8 –7 –6 –5
Power (dB)
(b) 2500
2000
1500
Number
1000
500
0
–15 –10 –5 0 5 10 15 20 25 30 35
Power (dB)
FIGURE 2.7 Experimental estimation of power noise distributions with no targets in
the environment. (a) Experimental estimation of the noise distribution obtained from a
10 m distance. The distance has been chosen arbitrarily. (b) Experimental estimation
of the noise distribution obtained from a 100 m distance. The distance has been chosen
arbitrarily.
© 2006 by Taylor & Francis Group, LLC
FRANKL: “dk6033_c002” — 2006/3/31 — 17:29 — page 56 — #16
