Autonomous navigation: on issues concerning measurement uncertainty

200 p.

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Bibliographic Details
Main Author:	Mullane, John Stephen
Other Authors:	Martin Adams
Format:	Theses and Dissertations
Published:	2011
Subjects:	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Online Access:	https://hdl.handle.net/10356/47025
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Institution:	Nanyang Technological University

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spelling	sg-ntu-dr.10356-470252023-07-04T16:19:00Z Autonomous navigation: on issues concerning measurement uncertainty Mullane, John Stephen Martin Adams Wijerupage Sardha Wijesoma School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering 200 p. Exteroceptive sensors provide absolute information from the surrounding envi-ronment and are a critical aspect of any autonomous navigation algorithm. These measurements are subject to many sources of uncertainty, namely detection and data association uncertainty, spurious measurements, biasses as well as measurement noise. To deal with such uncertainty, probabilistic methods are most widely adopted, espe-cially metric based approaches. These probabilistic environmental representations, for autonomous navigation frameworks with uncertain measurements, can generally be subdivided into two main categories - grid based and feature based. Grid based approaches are popular for robotic exploration, obstacle avoidance and path planning, whereas feature based maps, with their reduced dimensionality, are primarily used for large scale localisation, i.e. SLAM. While researchers commonly distinguish both approaches based on their environmental representations, this thesis examines the fun-damental theoretical aspects of estimation theoretic algorithms for both approaches, with emphasis on the measurement likelihoods used to incorporate measurement un-certainty, and their impact on the resulting stochastic problem. DOCTOR OF PHILOSOPHY (EEE) 2011-12-27T05:55:40Z 2011-12-27T05:55:40Z 2009 2009 Thesis Mullane, J. S. (2009). Autonomous navigation: on issues concerning measurement uncertainty. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/47025 10.32657/10356/47025 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
spellingShingle	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Mullane, John Stephen Autonomous navigation: on issues concerning measurement uncertainty
description	200 p.
author2	Martin Adams
author_facet	Martin Adams Mullane, John Stephen
format	Theses and Dissertations
author	Mullane, John Stephen
author_sort	Mullane, John Stephen
title	Autonomous navigation: on issues concerning measurement uncertainty
title_short	Autonomous navigation: on issues concerning measurement uncertainty
title_full	Autonomous navigation: on issues concerning measurement uncertainty
title_fullStr	Autonomous navigation: on issues concerning measurement uncertainty
title_full_unstemmed	Autonomous navigation: on issues concerning measurement uncertainty
title_sort	autonomous navigation: on issues concerning measurement uncertainty
publishDate	2011
url	https://hdl.handle.net/10356/47025
_version_	1772828852364509184

Autonomous navigation: on issues concerning measurement uncertainty

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