Computational Principles of Mobile Robotics

by Gregory Dudek , Michael Jenkin

• ISBN13: 9780521568760
• ISBN10: 0521568765
• Format: Paperback
• Copyright: 2000-02-28
• Publisher: Cambridge University Press

Summary

This is a textbook for advanced undergraduate and graduate students in the field of mobile robotics. Emphasising computation and algorithms, the authors address a range of strategies for enabling robots to perform tasks that involve motion and behavior. The book is divided into three major sections: locomotion, sensing, and reasoning. It concentrates on wheeled and legged mobile robots, but discusses a variety of other propulsion systems. Kinematic models are developed for many of the more common locomotive strategies. It presents algorithms for both visual and nonvisual sensor technologies, including sonar, vision, and laser scanners. In the section on reasoning, the authors offer a thorough examination of planning and the issues related to spatial representation. They emphasize the problems of navigation, pose estimation, and autonomous exploration. The book is a comprehensive treatment of the field, offering a discussion of state-of-the art methods with illustrations of key technologies.

Table of Contents

Acknowledgments	xiii
Overview and Motivation	1	(12)
From Mechanisms to Computation	4	(1)
Historical Context	4	(6)
Autonomous Robots in Fiction	4	(2)
Early Autonomous Robots	6	(4)
Operational Regimes	10	(1)
Operational Modes	10	(1)
A Guide to this Book	11	(1)
Problems	11	(2)
Part One: Locomotion	13	(36)
Mobile Robot Hardware	15	(34)
Locomotion	15	(28)
Wheeled Mobile Robots	16	(11)
Complex Wheels	27	(1)
Tracked Vehicles	28	(1)
Limbed Vehicles	28	(11)
Aquatic Vehicles	39	(2)
Flying Vehicles	41	(1)
Space Robots	41	(2)
Offboard Communication	43	(2)
Tethered	43	(1)
Untethered	44	(1)
Processing	45	(1)
Further Reading	45	(1)
Wheeled Mobile Robots	45	(1)
Legged Robots	46	(1)
Space Robots	46	(1)
Problems	46	(3)
Part Two: Sensing	49	(70)
Nonvisual Sensors and Algorithms	51	(31)
Basic Concepts	51	(4)
Contact Sensors: Bumpers	55	(1)
Internal Sensors	56	(2)
Accelerometers	56	(1)
Gyroscopes	57	(1)
Compasses and Inclinometers	58	(1)
Infrared Sensors	58	(1)
Sonar	59	(6)
Transducer Model	62	(2)
Data Interpretation	64	(1)
Radar	65	(2)
Laser Rangefinders	67	(1)
Satellite-Based Positioning (GPS)	68	(2)
Data Fusion	70	(7)
State Space Models	71	(4)
Kalman Filtering	75	(2)
Extended Kalman Filter	77	(2)
Biological Sensing	79	(2)
Visual Sensing	79	(1)
Magnetic Sensing	80	(1)
Odor Sensing	80	(1)
Mapping	80	(1)
Further Reading	81	(1)
Nonvisual Sensors	81	(1)
Kalman Filtering	81	(1)
Problems	81	(1)
Visual Sensors and Algorithms	82	(37)
Visual Sensors	83	(5)
Calibration	84	(4)
Object Appearance and Shading	88	(1)
Signals and Sampling	89	(2)
Image Features and Their Combination	91	(13)
Color and Shading	92	(1)
Image Brightness Constraint	92	(2)
Correlation	94	(1)
Fourier Methods	94	(1)
Feature Detectors	95	(1)
Edges	96	(7)
Image Filters	103	(1)
Local Phase Differences	103	(1)
Summary	104	(1)
Obtaining Depth	104	(5)
Ground Plane Assumption	104	(1)
Multiple Cameras	105	(1)
Model-Based Vision	106	(1)
Floor Anomaly Detection	107	(1)
Ego-Motion	108	(1)
Active Vision	109	(3)
Foveated Sensors	109	(1)
Stereo Heads	110	(2)
Other Sensors	112	(5)
Light Striping	112	(2)
BIRIS	114	(1)
Structured and Unstructured Light	115	(1)
LaserEye	115	(1)
COPIS and Paracamera	116	(1)
Further Reading	117	(1)
Computer Vision	117	(1)
Stereo Vision	117	(1)
Signals and Systems	117	(1)
Local Phase Differences	117	(1)
Active Vision	117	(1)
Problems	117	(2)
Part Three: Reasoning	119	(138)
Representing and Reasoning About Space	121	(28)
Representing Space	121	(9)
Spatial Decomposition	122	(3)
Geometric Representations	125	(4)
Topological Representations	129	(1)
Representing the Robot	130	(2)
Configuration Space	130	(1)
Simplifications	131	(1)
Path Planning for Mobile Robots	132	(15)
Searching a Discrete State Space	134	(1)
Constructing a Discrete Search Space	135	(3)
Searching a Continuous State Space	138	(5)
Spatial Uncertainty	143	(1)
Complex Environments	144	(3)
Planning for Multiple Robots	147	(1)
Further Reading	148	(1)
Problems	148	(1)
Operating Environment	149	(25)
Functional Decomposition	150	(4)
Hierarchical	152	(1)
Blackboard	153	(1)
Reactive Control	154	(4)
Subsumption	155	(1)
Motor Schema	156	(1)
Continuous Control	156	(1)
Integrating Reactive Behaviors	156	(2)
High-Level Control	158	(3)
STRIPS	160	(1)
Situation Calculus	160	(1)
GRAMMPS	161	(1)
Artificial Neural Networks	161	(3)
Genetic Algorithms	164	(1)
Hybrid Systems	164	(2)
User Interface	166	(1)
Mobile Robot Software Development as Experimentation	167	(2)
Multiple Robots	169	(3)
Control Architectures	171	(1)
Further Reading	172	(1)
Neural Nets	172	(1)
Subsumption-Based Systems	172	(1)
Robot Collectives	172	(1)
Searching and Planning	172	(1)
Problems	172	(2)
Pose Maintenance	174	(38)
Dead Reckoning	176	(1)
Simple Landmark Measurement	176	(7)
Landmark Classes	177	(1)
Triangulation	178	(5)
Servo Control	183	(2)
Kalman Filtering	185	(12)
Adaptive Localization at Multiple Scales	186	(11)
Nongeometric Methods: Perceptual Structure	197	(5)
Eigenlandmarks	198	(4)
Correlation-Based Localization	202	(2)
Global Localization	204	(6)
A Performance Guarantee for Strategy MDL	207	(2)
Practical One-Shot Global Localization	209	(1)
Further Reading	210	(1)
General Survey	210	(1)
Triangulation-Based Systems	210	(1)
Problems	211	(1)
Maps and Related Tasks	212	(21)
Sensorial Maps	214	(5)
Image-Based Mapping	214	(1)
Spatial Occupancy Representations	214	(5)
Geometric Maps	219	(5)
Spiral Search	221	(3)
Topological Maps	224	(4)
Marker-Based Exploration	225	(3)
Multiple Robots	228	(4)
Rendezvous	230	(1)
Map Fusion	231	(1)
Fusion by Correlation	231	(1)
Exploration with Multiple Robots	232	(1)
Problems	232	(1)
Practical Mobile Robot Tasks	233	(18)
Delivery	233	(2)
Robotic Assembly and Manufacturing	235	(1)
Intelligent Vehicles	235	(5)
Driving Assistants	236	(1)
Convoy Systems	237	(1)
Autonomous Driving Systems	237	(2)
Automated Highway Systems	239	(1)
Autonomous Urban Systems	239	(1)
Robots for Survey and Inspection	240	(1)
Mining Automation	241	(1)
Space Robotics	242	(2)
NASA and JPL	242	(1)
Soviet	243	(1)
LunaCorp	243	(1)
Autonomous Aircraft	244	(1)
Military Reconnaissance	245	(1)
Bomb and Mine Disposal	245	(1)
Underwater Inspection	246	(1)
Agriculture and Forestry	247	(1)
Forestry Maintenance	247	(1)
Greenhouse Robot	247	(1)
Lawn-Mowing Robots	247	(1)
Harvesting Robots	248	(1)
Aids for the Disabled	248	(1)
Entertainment	248	(1)
Cleaning Robots	249	(1)
Problems	249	(2)
The Future of Mobile Robotics	251	(6)
Locomotion	251	(2)
Smooth Terrain	251	(1)
Flying and Swimming	252	(1)
Sensors	253	(1)
Nonvisual Sensors	253	(1)
Vision-Based Sensors	253	(1)
Control	253	(1)
User Interface	254	(1)
Shared Control	254	(1)
System Integration	254	(1)
Future Directions	255	(1)
Problems	255	(2)
Bibliography	257	(16)
Index	273