Introduction to Autonomous Mobile Robots

Roland Siegwart, Illah R. Nourbakhsh

321 pages, parution le 28/04/2004

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Résumé

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.

L'auteur - Roland Siegwart

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

L'auteur - Illah R. Nourbakhsh

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

Sommaire

Introduction
Locomotion
Mobile Robot Kinematics
Perception
Mobile Robot Localization
Planning and Navigation
Bibliography
Index

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Caractéristiques techniques

	PAPIER
Éditeur(s)	The MIT Press
Auteur(s)	Roland Siegwart, Illah R. Nourbakhsh
Parution	28/04/2004
Nb. de pages	321
Format	18 x 23,5
Couverture	Relié
Poids	640g
Intérieur	Noir et Blanc
EAN13	9780262195027
ISBN13	978-0-262-19502-7