Page 11 - Introduction to AI Robotics

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6.3 Designing a Sensor Suite 202 Contents
6.3.1 Attributes of a sensor 203
6.3.2 Attributes of a sensor suite 206
6.4 Proprioceptive Sensors 207
6.4.1 Inertial navigation system (INS) 208
6.4.2 GPS 208
6.5 Proximity Sensors 210
6.5.1 Sonar or ultrasonics 210
6.5.2 Infrared (IR) 216
6.5.3 Bump and feeler sensors 217
6.6 Computer Vision 218
6.6.1 CCD cameras 219
6.6.2 Grayscale and color representation 220
6.6.3 Region segmentation 226
6.6.4 Color histogramming 228
6.7 Range from Vision 231
6.7.1 Stereo camera pairs 232
6.7.2 Light stripers 235
6.7.3 Laser ranging 239
6.7.4 Texture 241
6.8 Case Study: Hors d’Oeuvres, Anyone? 242
6.9 Summary 250
6.10 Exercises 251
6.11 End Notes 254

7 The Hybrid Deliberative/Reactive Paradigm 257
7.1 Overview 257
7.2 Attributes of the Hybrid Paradigm 259
7.2.1 Characteristics and connotation of reactive
behaviors in hybrids 261
7.2.2 Connotations of “global” 262
7.3 Architectural Aspects 262
7.3.1 Common components of hybrid architectures 263
7.3.2 Styles of hybrid architectures 264
7.4 Managerial Architectures 265
7.4.1 Autonomous Robot Architecture (AuRA) 265
7.4.2 Sensor Fusion Effects (SFX) 268
7.5 State-Hierarchy Architectures 274
7.5.1 3-Tiered (3T) 274