Computational Principles of Mobile Robotics

by Gregory Dudek , Michael Jenkin

• ISBN13: 9780521692120
• ISBN10: 0521692121
• Edition: 2nd
• Format: Paperback
• Copyright: 2010-07-26
• Publisher: Cambridge University Press

Summary

This textbook for advanced undergraduates and graduate students emphasizes algorithms for a range of strategies for locomotion, sensing, and reasoning. It concentrates on wheeled and legged mobile robots but discusses a variety of other propulsion systems. The new edition includes advances in robotics and intelligent machines over the last ten years, including significant coverage of SLAM (simultaneous localization and mapping) and multi-robot systems. It includes additional mathematical background and an extensive list of sample problems. Various mathematical techniques that were assumed in the first edition are now briefly introduced in appendices at the end of the text to make the book more self-contained. Researchers as well as students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.

Author Biography

Gregory Dudek is James McGill Professor of Computer Science and the Director of the School of Computer Science and of the Mobile Robotics Laboratory at McGill University. Michael Jenkin is a Professor of Computer Science and Engineering at York University. He has coedited eight books on human and machine vision.

Table of Contents

Acknowledgments	p. xi
Perface to the Second Edition	p. xiii
Overview and Motivation	p. 1
From Mechanisms to Computation	p. 4
Historical Context	p. 5
Biological Inspiration	p. 11
Operational Regimes	p. 11
Operational Modes	p. 11
A Guide to This Book	p. 12
Further Reading	p. 13
Problems	p. 16
Fundamental Problems	p. 18
Path Planning for a Point Robot	p. 19
Localization for a Point Robot	p. 21
Sensing for a Point Robot	p. 23
Mapping for a Point Robot	p. 25
SLAM for a Point Robot	p. 25
Looking Forward	p. 26
Further Reading	p. 27
Problems	p. 27
Locomotion and Perception	p. 29
Mobile Robot Hardware	p. 31
Locomotion	p. 31
Off-Board Communication	p. 71
Processing	p. 75
Further Reading	p. 76
Problems	p. 77
Non-Visual Sensors and Algorithms	p. 82
Basic Concepts	p. 82
Contact Sensors: Bumpers	p. 86
Inertial Sensors	p. 87
Infrared Sensors	p. 90
Sonar	p. 91
Radar	p. 98
Laser Rangefinders	p. 98
Satellite-Based Positioning	p. 100
Data Fusion	p. 102
Biological Sensing	p. 118
Further Reading	p. 120
Problems	p. 121
Visual Sensors and Algorithms	p. 123
Visual Sensors	p. 124
Object Appearance and Shading	p. 131
Signals and Sampling	p. 132
Image Features and Their Combination	p. 134
Obtaining Depth	p. 149
Active Vision	p. 155
Other Sensors	p. 158
Biological Vision	p. 162
Further Reading	p. 163
Problems	p. 164
Representation and Planning	p. 165
Representing and Reasoning About Space	p. 167
Representing Space	p. 167
Representing the Robot	p. 176
Path Planning for Mobile Robots	p. 179
Planning for Multiple Robots	p. 208
Biological Mapping	p. 209
Further Reading	p. 210
Problems	p. 210
System Control	p. 212
Horizontal Decomposition	p. 213
Vertical Decomposition	p. 217
Hybrid Control Architectures	p. 223
Middleware	p. 226
High-Level Control	p. 226
Alternative Control Formalisms	p. 230
The Human-Robot Interface	p. 235
Mobile Robot Software Development as Experimentation	p. 237
Standard Software Toolkits	p. 237
Further Reading	p. 238
Problems	p. 239
Pose Maintenance and Localization	p. 240
Simple Landmark Measurement	p. 241
Servo Control	p. 249
Recursive Filtering	p. 250
Non-Geometric Methods: Perceptual Structure	p. 260
Correlation-Based Localization	p. 267
Global Localization	p. 267
Biological Approaches to Localization	p. 273
Further Reading	p. 274
Problems	p. 274
Mapping and Related Tasks	p. 276
Sensorial Maps	p. 278
Geometric Maps	p. 279
Topological Maps	p. 287
Exploration	p. 291
Further Reading	p. 294
Problems	p. 294
Robot Collectives	p. 295
Categorizing Collectives	p. 296
Control Architectures	p. 296
Collective Communication	p. 299
Sensing	p. 300
Planning for Action	p. 301
Formation Control	p. 302
Localization	p. 303
Mapping	p. 304
Further Reading	p. 305
Problems	p. 306
Robots in Practice	p. 307
Delivery Robots	p. 307
Intelligent Vehicles	p. 309
Robots for Survey and Inspection	p. 314
Mining Automation	p. 316
Space Robotics	p. 317
Autonomous Aircraft	p. 319
Military Reconnaissance	p. 320
Bomb/Mine Disposal	p. 320
Underwater Inspection	p. 322
Agriculture/Forestry	p. 323
Aids for the Disabled	p. 325
Entertainment	p. 326
Domestic Robots	p. 327
Further Reading	p. 327
Problems	p. 328
The Future of Mobile Robotics	p. 329
Locomotion	p. 329
Sensors	p. 331
Control	p. 332
System Integration	p. 332
Standardization	p. 333
Future Directions	p. 333
Probability and Statistics	p. 335
Probability	p. 335
Some Simple Statistics	p. 338
Further Reading	p. 339
Problems	p. 339
Linear Systems, Matrices, and Filtering	p. 341
Linear Algebra	p. 341
Matrix Algebra	p. 341
Signals and Systems	p. 343
Fourier Theory	p. 344
Sampling and the Nyquist Theorem	p. 344
Further Reading	p. 345
Problems	p. 345
Markov Models	p. 346
Discrete Markov Process	p. 346
Hidden Markov Models	p. 348
Markov Decision Process	p. 349
POMDP	p. 350
Further Reading	p. 351
Problems	p. 351
Bibliography	p. 353
Index	p. 381
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