Treatment of systematic errors in the processing of wide-angle sonar sensor data for robotic navigation

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 . INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 Experimental Testbed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Systematic Errors ................................ 1 . 3 Objectives and Methodology ....................... 2 . INFORMATION PROCESSING ................................ 2.1 Possible Interpretations of an Isolated Return . . . 2.2 Multiple Returns and Patterns of Conflict . . . . . . . . 2 . 3 Labels and Their Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 . 4 Pattern Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 . MAPS AND ANALYSES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 . 1 Laboratory Environment and Robot Navigation . . . . . . 3.2 Instantaneous Scan Maps and Strings . . . . . . . . . . . . . . 3 . 3 Cumulative Navigation Maps ....................... 3 . 4 Consistent-Labelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 . 5 Discussion o f Results ............................ 4 . DISCUSSION OF SOME ALTERNATIVE APPROACHES . . . . . . . . . . . . . 5 . SUMMARY AND CONCLUDING REMARKS ........................ Acknowledgements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii