The chapter is devoted to the actual problem of navigating mobile autonomous robots on unknown terrain in the absence of GPS. Such a problem is considered solved if the robot is capable to detect landmark and estimate own coordinates relative to the landmark. A reliable method for solving the problem is the simultaneous use of several measuring systems operating on different physical principles. In classical radar, the reliable detection of the echo signals from immovable landmark, which differ little from the echo signals that are reflected from the surrounding area, is impossible. Comparison of such signals is carried out in the chapter for various terrains at different lengths of electromagnetic waves. It is found that the only difference between them is the possible amplitude jump of signal, reflected from the landmark. This jump occurs during the movement of the robot or scanning the space by the robot antenna. The probability of detecting such a jump, the accuracy of the amplitude estimation, and the speed of the device operation are analyzed in the chapter based on the developed system of stochastic differential equations.
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- The Methods of Radar Detection of Landmarks by Mobile Autonomous Robots
- Chapter 6