Introduction To Autonomous Mobile Robots

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This book offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform tasks, including locomotion, sensing, localization, and motion planning. The book presents techniques and technology that enable mobility in a series of interacting modules. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. New To This Edition: New material has been added on topics such as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. As the book covers all aspects of robotics into one volume, it can serve as textbook or working tool for beginning practitioners. Table of Contents Acknowledgments  Preface 1 Introduction 1.1 Introduction 1.2 An Overview of the Book 2 Locomotion 2.1 Introduction 2.2 Legged Mobile Robots 2.3 Wheeled Mobile Robots 2.4 Aerial Mobile Robots 2.5 Problems 3 Mobile Robot Kinematics 3.1 Introduction 3.2 Kinematic Models and Constraints 3.3 Mobile Robot Maneuverability 3.4 Mobile Robot Workspace 3.5 Beyond Basic Kinematics 3.6 Motion Control (Kinematic Control) 3.7 Problems 4 Perception 4.1 Sensors for Mobile Robots 4.2 Fundamentals of Computer Vision 4.3 Fundamentals of Image Processing 4.4 Feature Extraction 4.5 Image Feature Extraction: Interest Point Detectors 4.6 Place Recognition 4.7 Feature Extraction Based on Range Data (Laser, Ultrasonic) 4.8 Problems 5 Mobile Robot Localization 5.1 Introduction 5.2 The Challenge of Localization: Noise and Aliasing 5.3 To Localize or Not to Localize: Localization-Based Navigation Versus Programmed Solutions 5.4 Belief Representation 5.5 Map Representation 5.6 Probabilistic Map-Based Localization 5.7 Other Examples of Localization Systems 5.8 Autonomous Map Building 5.9 Problems 6 Planning and Navigation 6.1 Introduction 6.2 Competences for Navigation: Planning and Reacting 6.3 Path Planning 6.4 Obstacle avoidance 6.5 Navigation Architectures 6.6 Problems Bibliography Index