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Robot cognition and navigation : an experiment with mobile robots

Author: Srikanta Patnaik
Publisher: Berlin ; New York : Springer, 2007.
Series: Cognitive technologies.
Edition/Format:   Print book : EnglishView all editions and formats
Database:WorldCat
Summary:

Presents the concept of cognition in a comprehensive style. This title provides an analysis of mathematical models and algorithms, and demonstrates their application with real life experiments.

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Document Type: Book
All Authors / Contributors: Srikanta Patnaik
ISBN: 9783540234463 3540234462
OCLC Number: 149381249
Description: xv, 288, [1] pages : illustrations ; 25 cm.
Contents: 1 Cybernetic View of Robot Cognition and Perception 1 --
1.1.1 Various States of Cognition 3 --
1.1.2 Cycles of Cognition 5 --
1.2 Visual Perception 7 --
1.2.1 Human Visual System 7 --
1.2.2 Vision for Mobile Robots 8 --
1.3 Visual Recognition 10 --
1.3.1 Template Matching 11 --
1.3.2 Feature-Based Model 11 --
1.3.3 Fourier Model 12 --
1.3.4 Structural Model 12 --
1.3.5 The Computational Theory of Marr 13 --
1.4 Machine Learning 13 --
1.4.1 Properties and Issues in Machine Learning 13 --
1.4.2 Classification of Machine Learning 15 --
1.5 Soft Computing Tools and Robot Cognition 17 --
1.5.1 Modeling Cognition Using ANN 17 --
1.5.2 Fuzzy Logic in Robot Cognition 19 --
1.5.3 Genetic Algorithms in Robot Cognition 19 --
2 Map Building 21 --
2.2 Constructing a 2D World Map 22 --
2.2.1 Data Structure for Map Building 22 --
2.2.2 Explanation of the Algorithm 26 --
2.2.3 An Illustration of Procedure: Traverse Boundary 27 --
2.2.4 An Illustration of Procedure: Map Building 29 --
2.2.5 Robot Simulation 31 --
2.3 Execution of the Map Building Program 33 --
3 Path Planning 39 --
3.2 Representation of the Robot's Environment 39 --
3.2.1 GVD Using Cellular Automata 40 --
3.3 Path Optimization by the Quadtree Approach 41 --
3.3.3 Generation of the Quadtree 42 --
3.4 Neighbor-Finding Algorithms for the Quadtree 47 --
3.5 The A Algorithm for Selecting the Best Neighbor 52 --
3.6 Execution of the Quadtree-Based Path Planner Program 54 --
4 Navigation Using a Genetic Algorithm 59 --
4.2 Genetic Algorithms 60 --
4.2.1 Encoding of a Chromosome 61 --
4.2.2 Crossover 62 --
4.2.3 Mutation 62 --
4.2.4 Parameters of a GA 63 --
4.2.5 Selection 63 --
4.3 Navigation by a Genetic Algorithm 64 --
4.3.1 Formulation of Navigation 64 --
4.4 Execution of the GA-Based Navigation Program 67 --
4.5 Replanning by Temporal Associative Memory 68 --
4.5.2 Encoding and Decoding Process in a Temporal Memory 70 --
4.5.3 An Example in a Semi-dynamic Environment 71 --
4.5.4 Implications of Results 74 --
5 Robot Programming Packages 77 --
5.2 Robot Hardware and Software Resources 78 --
5.2.1 Components 79 --
5.3 ARIA 79 --
5.3.1 ARIA Client-Server 80 --
5.3.2 Robot Communication 84 --
5.3.3 Opening the Connection 84 --
5.3.4 ArRobot 85 --
5.3.5 Range Devices 87 --
5.3.6 Commands and Actions 88 --
5.4 Socket Programming 95 --
5.4.1 Socket Programming in ARIA 96 --
5.5 BotSpeak Speech System 98 --
5.5.1 Functions 98 --
5.6 Small Vision System (SVS) 100 --
5.6.1 SVS C++ Classes 101 --
5.6.2 Parameter Classes 102 --
5.6.3 Stereo Image Class 102 --
5.6.4 Acquisition Classes 106 --
5.7 Multithreading 112 --
5.8 Client Front-End Design Using Java 113 --
6 Robot Parameter Display 115 --
6.2 Flow Chart and Source Code for Robot Parameter Display 115 --
7 Program for BotSpeak 127 --
7.2 Flow Chart and Source Code for BotSpeak Program 127 --
8 Gripper Control Program 137 --
8.2 Flow Chart and Source Code for Gripper Control Program 137 --
9 Program for Sonar Reading Display 151 --
9.2 Flow Chart and Source Code for Sonar Reading Display on Client 151 --
10 Program for Wandering Within the Workspace 163 --
10.2 Algorithm and Source Code for Wandering Within the Workspace 163 --
11 Program for Tele-operation 175 --
11.2 Algorithm and Source Code for Tele-operation 175 --
12 A Complete Program for Autonomous Navigation 189 --
12.2 The ImageServer Program 190 --
12.3 The MotionServer Program 192 --
12.4 The Navigator Client Program 195 --
13 Imaging Geometry 201 --
13.2 Necessity for 3D Reconstruction 201 --
13.3 Building Perception 202 --
13.3.1 Problems of Understanding 3D Objects from 2D Imagery 203 --
13.3.2 Process of 3D Reconstruction 203 --
13.4 Imaging Geometry 205 --
13.4.1 Image Formation 205 --
13.4.2 Perspective Projection in One Dimension 206 --
13.4.3 Perspective Projection in 3D 207 --
13.5 Global Representation 211 --
13.6 Transformation to Global Coordinate System 217 --
14 Image Capture Program 221 --
14.2 Algorithm for Image Capture 221 --
15 Building 3D Perception Using a Kalman Filter 227 --
15.2 Minimal Representation 227 --
15.3 Recursive Kalman Filter 229 --
15.4 Experiments and Estimation 231 --
15.4.1 Reconstruction of 3D Points 237 --
15.4.2 Reconstruction of a 3D Line 242 --
15.4.3 Reconstruction of a 3D Plane 246 --
15.5 Correspondence Problem in 3D Recovery 249 --
16 Program for 3D Perception 251 --
16.2 Flow Chart and Source Code for 3D Perception 251 --
17 Perceptions of Non-planar Surfaces 263 --
17.2 Methods of Edge Detection 263 --
17.3 Curve Tracking and Curve Fitting 266 --
17.4 Program for Curve Detector 270 --
18 Intelligent Garbage Collection 277 --
18.2 Algorithms and Source Code for Garbage Collection 277.
Series Title: Cognitive technologies.
Responsibility: Srikanta Patnaik.
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From the reviews: "Robotics is mostly about experimentation, and Patnaik certainly offers the reader a book that contains quite a bid of it, with the help of code written in C++ and Java that can be Read more...

 
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