Computational Principles of Mobile RoboticsCambridge University Press, 28/02/2000 - 280 من الصفحات This is a textbook for advanced undergraduate and graduate students in the field of mobile robotics. Emphasising computation and algorithms, the authors address a range of strategies for enabling robots to perform tasks that involve motion and behavior. The book is divided into three major sections: locomotion, sensing, and reasoning. It concentrates on wheeled and legged mobile robots, but discusses a variety of other propulsion systems. Kinematic models are developed for many of the more common locomotive strategies. It presents algorithms for both visual and nonvisual sensor technologies, including sonar, vision, and laser scanners. In the section on reasoning, the authors offer a thorough examination of planning and the issues related to spatial representation. They emphasize the problems of navigation, pose estimation, and autonomous exploration. The book is a comprehensive treatment of the field, offering a discussion of state-of-the art methods with illustrations of key technologies. |
المحتوى
Overview and motivation | 1 |
11 From Mechanisms to Computation | 4 |
122 Early Autonomous Robots | 6 |
13 Operational Regimes | 10 |
15 A Guide to this Book | 11 |
Locomotion | 13 |
Mobile Robot Hardware | 15 |
211 Wheeled Mobile Robots | 16 |
534 Spatial Uncertainty | 143 |
535 Complex Environments | 144 |
54 Planning for Multiple Robots | 147 |
55 Further Reading | 148 |
Operating Environment | 149 |
61 Functional Decomposition | 150 |
611 Hierarchical | 152 |
612 Blackboard | 153 |
212 Complex Wheels | 27 |
213 Tracked Vehicles | 28 |
215 Aquatic Vehicles | 39 |
216 Flying Vehicles | 41 |
22 Offboard Communication | 43 |
222 Untethered | 44 |
23 Processing | 45 |
242 Legged Robots | 46 |
Sensing | 49 |
Nonvisual Sensors and Algorithms | 51 |
Bumpers | 55 |
33 Internal Sensors | 56 |
332 Gyroscopes | 57 |
333 Compasses and Inclinometers | 58 |
35 Sonar | 59 |
351 Transducer Model | 62 |
352 Data Interpretation | 64 |
36 Radar | 65 |
37 Laser Rangefinders | 67 |
38 SatelliteBased Positioning GPS | 68 |
39 Data Fusion | 70 |
391 State Space Models | 71 |
392 Kalman Filtering | 75 |
310 Extended Kalman Filter | 77 |
311 Biological Sensing | 79 |
3112 Magnetic Sensing | 80 |
312 Further Reading | 81 |
Visual Sensors and Algorithms | 82 |
41 Visual Sensors | 83 |
411 Calibration | 84 |
42 Object Appearance and Shading | 88 |
43 Signals and Sampling | 89 |
44 Image Features and Their Combination | 91 |
441 Color and Shading | 92 |
443 Correlation | 94 |
445 Feature Detectors | 95 |
446 Edges | 96 |
447 Image Filters | 103 |
449 Summary | 104 |
452 Multiple Cameras | 105 |
453 ModelBased Vision | 106 |
454 Floor Anomaly Detection | 107 |
455 EgoMotion | 108 |
46 Active Vision | 109 |
462 Stereo Heads | 110 |
47 Other Sensors | 112 |
472 BIRIS | 114 |
473 Structured and Unstructured Light | 115 |
475 COPIS and Paracamera | 116 |
48 Further Reading | 117 |
Reasoning | 119 |
Representing and Reasoning About Space | 121 |
511 Spatial Decomposition | 122 |
512 Geometric Representations | 125 |
513 Topological Representations | 129 |
52 Representing the Robot | 130 |
522 Simplifications | 131 |
53 Path Planning for Mobile Robots | 132 |
531 Searching a Discrete State Space | 134 |
532 Constructing a Discrete Search Space | 135 |
533 Searching a Continuous State Space | 138 |
62 Reactive Control | 154 |
621 Subsumption | 155 |
622 Motor Schema | 156 |
63 HighLevel Control | 158 |
631 STRIPS | 160 |
633 GRAMMPS | 161 |
65 Genetic Algorithms | 164 |
67 User Interface | 166 |
68 Mobile Robot Software Development as Experimentation | 167 |
69 Multiple Robots | 169 |
691 Control Architectures | 171 |
610 Further Reading | 172 |
Pose Maintenance | 174 |
71 Dead Reckoning | 176 |
721 Landmark Classes | 177 |
722 Triangulation | 178 |
73 Servo Control | 183 |
74 Kalman Filtering | 185 |
741 Adaptive Localization at Multiple Scales | 186 |
Perceptual Structure | 197 |
751 Eigenlandmarks | 198 |
76 CorrelationBased Localization | 202 |
77 Global Localization | 204 |
771 A Performance Guarantee for Strategy MDL | 207 |
772 Practical OneShot Global Localization | 209 |
78 Further Reading | 210 |
79 Problems | 211 |
Maps and Related Tasks | 212 |
81 Sensorial Maps | 214 |
82 Geometric Maps | 219 |
821 Spiral Search | 221 |
83 Topological Maps | 224 |
831 MarkerBased Exploration | 225 |
84 Multiple Robots | 228 |
841 Rendezvous | 230 |
842 Map Fusion | 231 |
844 Exploration with Multiple Robots | 232 |
Practical Mobile Robot Tasks | 233 |
92 Robotic Assembly and Manufacturing | 235 |
931 Driving Assistants | 236 |
932 Convoy Systems | 237 |
934 Automated Highway Systems | 239 |
94 Robots for Survey and Inspection | 240 |
95 Mining Automation | 241 |
96 Space Robotics | 242 |
962 Soviet | 243 |
97 Autonomous Aircraft | 244 |
98 Military Reconnaissance | 245 |
910 Underwater Inspection | 246 |
911 Agriculture and Forestry | 247 |
9114 Harvesting Robots | 248 |
914 Cleaning Robots | 249 |
The Future of Mobile Robotics | 251 |
1012 Flying and Swimming | 252 |
102 Sensors | 253 |
1031 User Interface | 254 |
105 Future Directions | 255 |
257 | |
273 | |
طبعات أخرى - عرض جميع المقتطفات
عبارات ومصطلحات مألوفة
algorithm approach autonomous robot behavior camera cell complex computational configuration configuration space consider constraints constructed coordinate covariance matrix defined described detection developed differential drive direction distance edge environment error example exist exploration Figure forward kinematics function gait geometric given global goal graph grid Hough transform initial input inverse kinematics Kalman filter kinematics known landmarks laser limb linear localization matrix measurements mechanism mobile robots motion multiple navigation node noise object obstacles obtain operator optimal orientation output parameters path planning performance pixel planner polygon pose position estimate problem quadtree region representation represented robot moves robot's position rotation sampling sensing sensor sensor data signal simple solution sonar space spatial specific stereo stereopsis structure subsumption architecture superquadric target task techniques topological transducer typically v₁ vector vehicle vertex vertices visibility polygon vision visual Voronoi diagram wheel
مقاطع مشهورة
الصفحة 268 - Retraction' Method for Planning the Motion of a Disc. J. Algorithms, 6:104-1 11, 1985.
الصفحة 260 - Six formal properties of two-dimensional anisotropic visual filters: structural principles and frequency/orientation selectivity,