Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben

2018 | Buch

Motivation Kapitel lesen Erstes Kapitel lesen

Robust Perception from Optical Sensors for Reactive Behaviors in Autonomous Robotic Vehicles

verfasst von: Alexander Schaub

Verlag: Springer Fachmedien Wiesbaden

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik" , Springer Professional "Wirtschaft"

Einloggen, um Zugang zu erhalten
insite
SUCHEN

Über dieses Buch

Alexander Schaub examines how a reactive instinctive behavior, similar to instinctive reactions as incorporated by living beings, can be achieved for intelligent mobile robots to extend the classic reasoning approaches. He identifies possible applications for reactive approaches, as they enable a fast response time, increase robustness and have a high abstraction ability, even though reactive methods are not universally applicable. The chosen applications are obstacle avoidance and relative positioning – which can also be utilized for navigation – and a combination of both. The implementation of reactive instinctive behaviors for the identified tasks is then validated in simulation together with real world experiments.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Motivation
Abstract
Autonomous mobile robots still have deficiencies to cope with unknown and changing environments, while living creatures ranging from insects to human beings solve this with their adaptability and the ability to abstract. A deciding factor is not the reasoning performance of autonomous agents, which is obviously suffcient when comparing the processing power of a highly developed mobile robot to e.g. an insect, but they (often) lack a capability comparable to instinct or intuition.
Alexander Schaub
Chapter 2. Related Work
Abstract
This chapter discusses relevant work for the implementation of a reactive instinctive behavior, while considering all three aspects of an artificial intelligence agent. Therefore, the accordance of the state of the art with our proposed characteristics is evaluated considering hardware, sensors and algorithms.
Alexander Schaub
Chapter 3. Vision-Based Reactive Controllers
Abstract
First, this chapter motivates in Section 3.1 cameras as a well-suited choice for implementing reactive instinctive behaviors and recalls basic models and computer vision principles. After that, a novel principle for estimating the Time-to-Collision for single image points is presented in Section 3.2, before Section 3.3 introduces three representations for obstacle avoidance, navigation, and a concurrent execution of both respectively. Finally, Section 3.4 demonstrates how each of the three representations could be utilized for planning.
Alexander Schaub
Chapter 4. The ROboMObil
Abstract
This chapter describes the German Aerospace Center’s ROboMObil (ROMO), which is an electric vehicle conceptualized as robotic system. The ROMO is the test vehicle used to evaluate the approaches proposed in this work (compare also Chapter 5). After the hardware and the concept is introduced in Section 4.1, the autonomous systems architecture is described in Section 4.2, which explicitly considers the reactive instinctive tasks.
Alexander Schaub
Chapter 5. Results
Abstract
This chapter will evaluate and validate the concepts regarding the representational forms and their utilization for planning which were introduced and discussed in Chapter 3. The test platform is the ROboMObil, which enables all the necessary tests that are not feasible with a conventional vehicle due to its 3 DOF.
Alexander Schaub
Chapter 6. Conclusion
Abstract
This thesis has the goal to conceptualize autonomous vehicles with reactive instinctive behavior similar to the intuition of a human driver. For establishing the desired behavior, all three basic elements of an Artificial Intelligence Agent, of which autonomous mobile robots and more specifically autonomous vehicles form a sub-group, have to be considered explicitly: sensor, actuator, and the artificial intelligence itself connecting both.
Alexander Schaub
Backmatter
Metadaten
Titel
Robust Perception from Optical Sensors for Reactive Behaviors in Autonomous Robotic Vehicles
verfasst von
Alexander Schaub
Copyright-Jahr
2018
Electronic ISBN
978-3-658-19087-3
Print ISBN
978-3-658-19086-6
DOI
https://doi.org/10.1007/978-3-658-19087-3

Neuer Inhalt

    Bildnachweise