Embedded Robotics : Mobile Robot Design and Applications with Embedded Systems

by Braunl, Thomas

• ISBN13: 9783540343189
• ISBN10: 3540343180
• Edition: 2nd
• Format: Paperback
• Copyright: 2006-07-15
• Publisher: Springer Verlag

Summary

This book presents a unique combination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with embedded systems (hardware and software design, actuators, sensors, PID control, multitasking), mobile robot design (driving, balancing, walking, and flying robots), and mobile robot applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.

Table of Contents

Part I: Embedded Systems
Robots and Controllers	3	(14)
Mobile Robots	4	(3)
Embedded Controllers	7	(3)
Interfaces	10	(3)
Operating System	13	(2)
References	15	(2)
Sensors	17	(24)
Sensor Categories	18	(1)
Binary Sensor	19	(1)
Analog versus Digital Sensors	19	(1)
Shaft Encoder	20	(2)
A/D Converter	22	(1)
Position Sensitive Device	23	(2)
Compass	25	(2)
Gyroscope, Accelerometer, Inclinometer	27	(3)
Digital Camera	30	(8)
References	38	(3)
Actuators	41	(10)
DC Motors	41	(3)
H-Bridge	44	(2)
Pulse Width Modulation	46	(2)
Stepper Motors	48	(1)
Servos	49	(1)
References	50	(1)
Control	51	(18)
On-Off Control	51	(5)
PID Control	56	(6)
Velocity Control and Position Control	62	(1)
Multiple Motors -- Driving Straight	63	(3)
V-Omega Interface	66	(2)
References	68	(1)
Multitasking	69	(14)
Cooperative Multitasking	69	(2)
Preemptive Multitasking	71	(2)
Synchronization	73	(4)
Scheduling	77	(3)
Interrupts and Timer-Activated Tasks	80	(2)
References	82	(1)
Wireless Communication	83	(14)
Communication Model	84	(2)
Messages	86	(1)
Fault-Tolerant Self-Configuration	87	(2)
User Interface and Remote Control	89	(3)
Sample Application Program	92	(1)
References	93	(4)
Part II: Mobile Robot Design
Driving Robots	97	(16)
Single Wheel Drive	97	(1)
Differential Drive	98	(4)
Tracked Robots	102	(1)
Synchro-Drive	103	(2)
Ackermann Steering	105	(2)
Drive Kinematics	107	(4)
References	111	(2)
Omni-Directional Robots	113	(10)
Mecanum Wheels	113	(2)
Omni-Directional Drive	115	(2)
Kinematics	117	(1)
Omni-Directional Robot Design	118	(1)
Driving Program	119	(1)
References	120	(3)
Balancing Robots	123	(8)
Simulation	123	(1)
Inverted Pendulum Robot	124	(4)
Double Inverted Pendulum	128	(1)
References	129	(2)
Walking Robots	131	(20)
Six-Legged Robot Design	131	(3)
Biped Robot Design	134	(5)
Sensors for Walking Robots	139	(1)
Static Balance	140	(3)
Dynamic Balance	143	(5)
References	148	(3)
Autonomous Planes	151	(10)
Application	151	(3)
Control System and Sensors	154	(1)
Flight Program	155	(4)
References	159	(2)
Autonomous Vessels and Underwater Vehicles	161	(10)
Application	161	(2)
Dynamic Model	163	(1)
AUV Design Mako	163	(4)
AUV Design USAL	167	(3)
References	170	(1)
Simulation Systems	171	(26)
Mobile Robot Simulation	171	(1)
EyeSim Simulation System	172	(5)
Multiple Robot Simulation	177	(1)
EyeSim Application	178	(1)
EyeSim Environment and Parameter Files	179	(5)
SubSim Simulation System	184	(2)
Actuator and Sensor Models	186	(2)
SubSim Application	188	(2)
SubSim Environment and Parameter Files	190	(3)
References	193	(4)
Part III: Mobile Robot Applications
Localization and Navigation	197	(20)
Localization	197	(4)
Probabilistic Localization	201	(4)
Coordinate Systems	205	(1)
Dijkstra's Algorithm	206	(4)
A* Algorithm	210	(1)
Potential Field Method	211	(1)
Wandering Standpoint Algorithm	212	(1)
DistBug Algorithm	213	(2)
References	215	(2)
Maze Exploration	217	(12)
Micro Mouse Contest	217	(2)
Maze Exploration Algorithms	219	(7)
Simulated versus Real Maze Program	226	(2)
References	228	(1)
Map Generation	229	(14)
Mapping Algorithm	229	(2)
Data Representation	231	(1)
Boundary-Following Algorithm	232	(1)
Algorithm Execution	233	(2)
Simulation Experiments	235	(1)
Robot Experiments	236	(3)
Results	239	(1)
References	240	(3)
Real-Time Image Processing	243	(20)
Camera Interface	243	(2)
Auto-Brightness	245	(1)
Edge Detection	246	(2)
Motion Detection	248	(1)
Color Space	249	(2)
Color Object Detection	251	(5)
Image Segmentation	256	(2)
Image Coordinates versus World Coordinates	258	(2)
References	260	(3)
Robot Soccer	263	(14)
RoboCup and FIRA Competitions	263	(3)
Team Structure	266	(1)
Mechanics and Actuators	267	(1)
Sensing	267	(2)
Image Processing	269	(2)
Trajectory Planning	271	(5)
References	276	(1)
Neural Networks	277	(14)
Neural Network Principles	277	(1)
Feed-Forward Networks	278	(5)
Backpropagation	283	(5)
Neural Network Example	288	(1)
Neural Controller	289	(1)
References	290	(1)
Genetic Algorithms	291	(16)
Genetic Algorithm Principles	292	(2)
Genetic Operators	294	(2)
Applications to Robot Control	296	(1)
Example Evolution	297	(4)
Implementation of Genetic Algorithms	301	(3)
References	304	(3)
Genetic Programming	307	(18)
Concepts and Applications	307	(2)
Lisp	309	(4)
Genetic Operators	313	(2)
Evolution	315	(1)
Tracking Problem	316	(3)
Evolution of Tracking Behavior	319	(4)
References	323	(2)
Behavior-Based Systems	325	(20)
Software Architecture	325	(1)
Behavior-Based Robotics	326	(3)
Behavior-Based Applications	329	(1)
Behavior Framework	330	(3)
Adaptive Controller	333	(4)
Tracking Problem	337	(1)
Neural Network Controller	338	(2)
Experiments	340	(2)
References	342	(3)
Evolution of Walking Gaits	345	(12)
Splines	345	(1)
Control Algorithm	346	(2)
Incorporating Feedback	348	(1)
Controller Evolution	349	(2)
Controller Assessment	351	(1)
Evolved Gaits	352	(3)
References	355	(2)
Outlook	357	(94)
APPENDICES
A. Programming Tools	361	(10)
B. RoBIOS Operating System	371	(42)
C. Hardware Description Table	413	(16)
D. Hardware Specification	429	(8)
E. Laboratories	437	(10)
F. Solutions	447	(4)
Index	451