Page 11 - Designing Autonomous Mobile Robots : Inside the Mindo f an Intellegent Machine
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Contents
Chapter 10: Navigation as a Filtering Process ......................................... 137
Filtering for the truth ................................................................................... 137
The importance of uncertainty .................................................................... 138
Modeling uncertainty ................................................................................... 140
Reducing uncertainty ................................................................................... 143
Learning to be accurately uncertain ............................................................ 144
Uses of uncertainty....................................................................................... 144
Chapter 11: Hard Navigation vs. Fuzzy Navigation .................................. 145
Sensor data and maps ................................................................................... 145
Navigation features ...................................................................................... 147
Hard navigation............................................................................................ 149
The concept of fuzzy navigation .................................................................. 151
Other profiles ............................................................................................... 164
The referenced state ..................................................................................... 165
Reducing uncertainty ................................................................................... 166
Chapter 12: Sensors, Navigation Agents and Arbitration......................... 169
Sensor types .................................................................................................. 169
Guidelines for selecting and deploying navigation and
collision avoidance sensors .......................................................................... 178
Navigation agents......................................................................................... 186
Agent properties and methods ..................................................................... 186
Arbitration and competition among agents ................................................ 187
Who to believe ............................................................................................. 188
Changing one’s mind.................................................................................... 189
Summary ....................................................................................................... 189
Chapter 13: Instilling Pain, Fear and Confidence ..................................... 191
Pain and annoyance ..................................................................................... 191
Virtual pain................................................................................................... 191
Avoiding pain and humiliation.................................................................... 194
The purpose of virtual confidence ............................................................... 198
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