Sensor Beams, Obstacles, and Possible Paths
Sensor Beams, Obstacles, and Possible Paths
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DOI：
10.1007/978-3-642-00312-7_20
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
Benjamín Tovar;F. Cohen;S. LaValle
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文献类型：
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作者：
Benjamín Tovar;F. Cohen;S. LaValle
本文介绍了一个代理（机器人、人类或动物）在障碍物和二进制检测光束之间移动的问题。任务是仅根据二进制传感器数据确定可能的代理路径。这是在许多设置中遇到的基本过滤问题，可能由物理传感器光束或源自其他传感方式的虚拟光束引起。给出了三种替代表示的方法：1）访问区域的可能序列，2）直至同伦类的路径描述，以及3）绕过障碍物的次数。该解决方案适用于最小传感设置；因此，精确的估计、距离和坐标被拓扑表达式所取代。应用包括基于传感器的取证、辅助生活、安全和环境监测。
This paper introduces a problem in which an agent (robot, human, or animal) travels among obstacles and binary detection beams. The task is to determine the possible agent path based only on the binary sensor data. This is a basic filtering problem encountered in many settings, which may arise from physical sensor beams or virtual beams that are derived from other sensing modalities. Methods are given for three alternative representations: 1) the possible sequences of regions visited, 2) path descriptions up to homotopy class, and 3) numbers of times winding around obstacles. The solutions are adapted to the minimal sensing setting; therefore, precise estimation, distances, and coordinates are replaced by topological expressions. Applications include sensor-based forensics, assisted living, security, and environmental monitoring.