Behaviour-based map representation for a sonar-based mobile robot by statistical methods
Behaviour-based map representation for a sonar-based mobile robot by statistical methods
复制标题
通过统计方法对基于声纳的移动机器人进行基于行为的地图表示
DOI：
10.1109/iros.1996.570688
复制
发表时间：
1996
期刊：
影响因子：
--
通讯作者：
M. Asada
中科院分区：
文献类型：
--
作者：
Takayuki Nakamura;S. Takamura;M. Asada
传统的移动的机器人生成地图的方法都试图重建环境的3-D几何表示，这是耗时的，容易出错的，并且必须将地图转换为可用于给定任务的信息。本文提出了一种方法来获得统计地图表示传感器噪声的鲁棒性和直接用于导航任务。首先，移动的机器人在环境中进行探测，存储一组声纳数据序列，并采用主成分分析法对声纳数据进行降维处理。因此，声纳数据的每个序列可以被描述为主成分的得分模式。接下来，这些模式被分类为典型的局部结构的环境，以便机器人来区分它们。最后，构建了环境的图形表示，其中节点和弧分别对应于这些局部结构和它们之间的转移概率。计算机仿真和真实的机器人实验验证了该方法的有效性。
Many conventional methods for map generation by mobile robots have tried to reconstruct 3-D geometric representation of the environment, which are time-consuming, error-prone, and necessary to transform the map into the information available for the given task. This paper proposes a method to acquire a statistical map representation robust to sensor noise and directly usable for navigation task. The robot is equipped with a ring of ultrasonic ranging sensors and a collision avoidance behaviour is embedded in it. First, the mobile robot explores in the environment in order to store a set of sequences of sonar data, and the principle component analysis is applied to reduce the dimensionality of the sonar data. As a result, each sequence of sonar data can be described as a score pattern of principal components. Next, these patterns are classified into typical local structures of the environment in order for the robot to discriminate them. Finally, a graph representation of the environment is constructed in which nodes and arcs correspond to these local structures and the transition probabilities between them, respectively. The validity of the method is shown by computer simulations and real robot experiments.
利用3G风险工具进行青少年犯罪风险评估（3）
DOI：
--
发表时间：
2009
期刊：
影响因子：
--
作者：
Takemi Mori;Masaru Takahashi;Ken-ichi Kanto & Ken-ichi Ohbuchi;Masaru Takahashi & Takemi Mori;森丈弓;森丈弓;森 丈弓・高橋 哲・菅藤健一・丸山もゆる・相澤 優・石黒裕子・内山八重・小野広明・吉澤 淳・大渕憲一;森丈弓;森 丈弓・菅藤健一・高橋 哲・丸山もゆる・相澤 優・石黒裕子・内山八重・小野広明・吉澤 淳・大渕憲一
通讯作者：
森 丈弓・菅藤健一・高橋 哲・丸山もゆる・相澤 優・石黒裕子・内山八重・小野広明・吉澤 淳・大渕憲一