无人驾驶Probabilistic Robotics (2005)正式版本

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1、5rjs.cn专注无人驾驶ProbabilisticRobotics5rjs.cn专注无人驾驶5rjs.cn专注无人驾驶ProbabilisticRoboticsSebastianThrunWolframBurgardDieterFoxTheMITPressCambridge,MassachusettsLondon,England5rjs.cn专注无人驾驶©2006MassachusettsInstituteofTechnologyAllrightsreserved.Nopartofthisbookmaybereproducedinanyformbyany

2、electronicormechanicalmeans(includingphotocopying,recording,orinformationstorageandretrieval)withoutpermissioninwritingfromthepublisher.MITPressbooksmaybepurchasedatspecialquantitydiscountsforbusinessorsalespromotionaluse.Forinformation,pleaseemailspecial_sales@mitpress.mit.eduorw

3、ritetoSpecialSalesDepartment,TheMITPress,55HaywardStreet,Cambridge,MA02142.Typesetin10/13LucidaBrightbytheauthorsusingLATEX2ε.PrintedandboundintheUnitedStatesofAmerica.LibraryofCongressCataloging-in-PublicationDataThrun,Sebastian,1967–Probabilisticrobotics/SebastianThrun,WolframBu

4、rgard,DieterFox.p.cm.–(Intelligentroboticsandautonomousagentsseries)Includesbibliographicalreferencesandindex.ISBN-13:978-0-262-20162-9(alk.paper)1.Robotics.2.Probabilities.I.Burgard,Wolfram.II.Fox,Dieter.III.Title.IV.In-telligentroboticsandautonomousagents.TJ211.T5752005629.8’92–

5、dc2220050433461098765635rjs.cn专注无人驾驶BriefContentsIBasics11Introduction32RecursiveStateEstimation133GaussianFilters394NonparametricFilters855RobotMotion1176RobotPerception149IILocalization1897MobileRobotLocalization:MarkovandGaussian1918MobileRobotLocalization:GridAndMonteCarlo237I

6、IIMapping2799OccupancyGridMapping28110SimultaneousLocalizationandMapping30911TheGraphSLAMAlgorithm33712TheSparseExtendedInformationFilter38513TheFastSLAMAlgorithm437IVPlanningandControl48514MarkovDecisionProcesses48715PartiallyObservableMarkovDecisionProcesses5135rjs.cn专注无人驾驶viBri

7、efContents16ApproximatePOMDPTechniques54717Exploration5695rjs.cn专注无人驾驶ContentsPrefacexviiAcknowledgmentsxixIBasics11Introduction31.1UncertaintyinRobotics31.2ProbabilisticRobotics41.3Implications91.4RoadMap101.5TeachingProbabilisticRobotics111.6BibliographicalRemarks112RecursiveSta

8、teEstimation132.1Introduction132.