Introduction to Autonomous Mobile Robots

Description:

Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in the Paris Metro. Introduction to Autonomous Mobile Robots offers students and other interested readers an overview of the technology of mobility -- the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks -- including locomotion, sensing, localization, and motion planning. It discusses all facets of mobile robotics, including hardware design, wheel design, kinematics analysis, sensors and perception, localization, mapping, and robot control architectures.

The design of any successful robot involves the integration of many different disciplines, among them kinematics, signal analysis, information theory, artificial intelligence, and probability theory. Reflecting this, the book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter covers a different aspect of mobility, as the book moves from low-level to high-level details. The first two chapters explore low-level locomotory ability, examining robots' wheels and legs and the principles of kinematics. This is followed by an in-depth view of perception, including descriptions of many "off-the-shelf" sensors and an analysis of the interpretation of sensed data. The final two chapters consider the higher-level challenges of localization and cognition, discussing successful localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook for coursework or a working tool for beginners in the field.

Roland Siegwart is Professor and Head of the Autonomous Systems Lab at the Swiss Federal Institute of Technology.

Illah R. Nourbakhsh is Associate Professor of Robotics in the Robotics Institute, School of Computer Science, at Carnegie Mellon University.

 

Acknowledgements	xi
	Preface	xiii
1.	Introduction	1
2.	Locomotion	13
3.	Mobile Robot Kinematics	47
4.	Perception	89
5.	Mobile Robot Localization	181
6.	Planning and Navigation	257
	Bibliography	305
	Index	317