Embedded Robotics

by Braunl, Thomas

• ISBN13: 9783540705338
• ISBN10: 3540705333
• Edition: 3rd
• Format: Paperback
• Copyright: 2008-10-01
• Publisher: Springer-Nature New York Inc

Summary

"This book presents a unique examination 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 organized for ease of use, with side-texts, and lots of figures, photographs, and worked example programs. A complementary web site offers free download of the RoBIOS operating system, example programs, online documentation, and a simulator." "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."--BOOK JACKET.

Author Biography

Br+ñunl is Associate Professor at the University of Western Australia, Perth, where he founded and directs the Mobile Robot Lab and is also Director of the Centre for Intelligent Information Processing Systems (CIIPS). Professor Br+ñunl received a Diploma in Informatics in 1986 from Univ. Kaiserslautern, an MS in Computer Science in 1987 from the University of Southern California, Los Angeles, and a PhD and Habilitation in Informatics in 1989 and 1994, respectively, from Univ. Stuttgart. He has worked in the past for BASF and DaimlerChrysler and has founded a company for innovative mobile robot design. Professor Br+ñunl's research interests are robotics, vision, graphics, and concurrency. He is author of several research books and textbooks and has developed the EyeBot mobile robot family.

Table of Contents

Embedded Systems
Robots and Controllers	p. 3
Mobile Robots	p. 4
Embedded Controllers	p. 7
Interfaces	p. 10
Operating System	p. 13
References	p. 15
Central Processing Unit	p. 17
Logic Gates	p. 18
Function Units	p. 23
Registers and Memory	p. 28
Retro	p. 30
Arithmetic Logic Unit	p. 32
Control Unit	p. 34
Central Processing Unit	p. 35
References	p. 47
Sensors	p. 49
Sensor Categories	p. 50
Binary Sensor	p. 51
Analog versus Digital Sensors	p. 51
Shaft Encoder	p. 52
A/D Converter	p. 54
Position Sensitive Device	p. 55
Compass	p. 57
Gyroscope, Accelerometer, Inclinometer	p. 59
Digital Camera	p. 62
References	p. 70
Actuators	p. 73
DC Motors	p. 73
H-Bridge	p. 76
Pulse Width Modulation	p. 78
Stepper Motors	p. 80
Servos	p. 81
References	p. 82
Control	p. 83
On-Off Control	p. 83
PID Control	p. 89
Velocity Control and Position Control	p. 94
Multiple Motors - Driving Straight	p. 96
V-Omega Interface	p. 98
References	p. 101
Multitasking	p. 103
Cooperative Multitasking	p. 103
Preemptive Multitasking	p. 105
Synchronization	p. 107
Scheduling	p. 111
Interrupts and Timer-Activated Tasks	p. 114
References	p. 116
Wireless Communication	p. 117
Communication Model	p. 118
Messages	p. 120
Fault-Tolerant Self-Configuration	p. 121
User Interface and Remote Control	p. 123
Sample Application Program	p. 126
References	p. 127
Mobile Robot Design
Driving Robots	p. 131
Single Wheel Drive	p. 131
Differential Drive	p. 132
Tracked Robots	p. 136
Synchro-Drive	p. 137
Ackermann Steering	p. 139
Drive Kinematics	p. 141
References	p. 145
Omni-Directional Robots	p. 147
Mecanum Wheels	p. 147
Omni-Directional Drive	p. 149
Kinematics	p. 151
Omni-Directional Robot Design	p. 152
Driving Program	p. 154
References	p. 155
Balancing Robots	p. 157
Simulation	p. 157
Inverted Pendulum Robot	p. 158
Double Inverted Pendulum	p. 162
References	p. 163
Walking Robots	p. 165
Six-Legged Robot Design	p. 165
Biped Robot Design	p. 168
Sensors for Walking Robots	p. 172
Static Balance	p. 174
Dynamic Balance	p. 175
References	p. 182
Autonomous Planes	p. 185
Application	p. 185
Control System and Sensors	p. 188
Flight Program	p. 189
References	p. 192
Autonomous Vessels and Underwater Vehicles	p. 195
Application	p. 195
Dynamic Model	p. 197
AUV Design Mako	p. 197
AUV Design USAL	p. 201
References	p. 204
Robot Manipulators	p. 205
Homogeneous Coordinates	p. 206
Kinematics	p. 207
Simulation and Programming	p. 212
References	p. 213
Simulation Systems	p. 215
Mobile Robot Simulation	p. 215
EyeSim Simulation System	p. 216
Multiple Robot Simulation	p. 221
EyeSim Application	p. 222
EyeSim Environment and Parameter Files	p. 223
SubSim Simulation System	p. 228
Actuator and Sensor Models	p. 230
SubSim Application	p. 232
SubSim Environment and Parameter Files	p. 234
References	p. 237
Mobile Robot Applications
Localization and Navigation	p. 241
Localization	p. 241
Probabilistic Localization	p. 245
Coordinate Systems	p. 249
Environment Representation	p. 251
Visibility Graph	p. 253
Voronoi Diagram	p. 255
Potential Field Method	p. 258
Wandering Standpoint Algorithm	p. 259
Bug Algorithm Family	p. 260
Dijkstra's Algorithm	p. 263
A* Algorithm	p. 267
References	p. 268
Maze Exploration	p. 271
Micro Mouse Contest	p. 271
Maze Exploration Algorithms	p. 273
Simulated versus Real Maze Program	p. 281
References	p. 282
Map Generation	p. 283
Mapping Algorithm	p. 283
Data Representation	p. 285
Boundary-Following Algorithm	p. 286
Algorithm Execution	p. 287
Simulation Experiments	p. 289
Robot Experiments	p. 290
Results	p. 293
References	p. 294
Real-Time Image Processing	p. 297
Camera Interface	p. 297
Auto-Brightness	p. 299
Edge Detection	p. 300
Motion Detection	p. 302
Color Space	p. 303
Color Object Detection	p. 305
Image Segmentation	p. 310
Image Coordinates versus World Coordinates	p. 312
References	p. 314
Robot Soccer	p. 317
RoboCup and FIRA Competitions	p. 317
Team Structure	p. 320
Mechanics and Actuators	p. 321
Sensing	p. 321
Image Processing	p. 323
Trajectory Planning	p. 325
References	p. 330
Neural Networks	p. 331
Neural Network Principles	p. 331
Feed-Forward Networks	p. 332
Backpropagation	p. 337
Neural Network Examples	p. 342
Neural Controller	p. 343
References	p. 344
Genetic Algorithms	p. 347
Genetic Algorithm Principles	p. 348
Genetic Operators	p. 350
Applications to Robot Control	p. 352
Example Evolution	p. 353
Implementation of Genetic Algorithms	p. 357
Starman	p. 361
References	p. 363
Genetic Programming	p. 365
Concepts and Applications	p. 365
Lisp	p. 367
Genetic Operators	p. 371
Evolution	p. 373
Tracking Problem	p. 374
Evolution of Tracking Behavior	p. 377
References	p. 381
Behavior-Based Systems	p. 383
Software Architecture	p. 383
Behavior-Based Robotics	p. 384
Behavior-Based Applications	p. 387
Behavior Framework	p. 388
Adaptive Controller	p. 391
Tracking Problem	p. 395
Neural Network Controller	p. 396
Experiments	p. 398
References	p. 400
Evolution of Walking Gaits	p. 403
Splines	p. 403
Control Algorithm	p. 404
Incorporating Feedback	p. 406
Controller Evolution	p. 407
Controller Assessment	p. 409
Evolved Gaits	p. 410
References	p. 413
Automotive Systems	p. 415
Autonomous Automobiles	p. 415
Automobile Conversion for Autonomous Driving	p. 418
Computer Vision for Driver-Assistance Systems	p. 420
Image Processing Framework	p. 421
Lane Detection	p. 422
Vehicle Recognition and Tracking	p. 429
Automatic Parking	p. 433
References	p. 436
Outlook	p. 439
Appendices
Programming Tools	p. 443
RoBIOS Operating System	p. 453
Hardware Description Table	p. 495
Hardware Specification	p. 511
Laboratories	p. 519
Solutions	p. 529
Index	p. 533
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