The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot : An Experimental, Quantitative Evaluation (Paperback)

1. Question, context and method; Part I. Starting Points: 2. Maps used in previous research; 3. The maps used in this research; 4. Approaches to exploration; Part II. System Components: 5. The robot; 6. Modelling the sonar sensor; 7. Map construction; 8. Path planning; 9. Localisation; 10. Map quality metrics; Part III. Experiments: 11. Experimental evaluation; 12. Wall?following; 13. The results of localisation; 14 Supervised wall?following; 15. Can a human do any better? 16. Longest lines of sight; 17. Free space boundaries; 18. Summary of experimental results; 19. Conclusion; 20. Directions for further research; Appendices; Bibliography; Index