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Computational Principles of Mobile Robotics.pdf

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    Computational Principles of Mobile Robotics
    Title page
    Copyright page
    Dedication
    Contents
    Acknowledgments
    Preface to the Second Edition
    1 Overview and Motivation
    1.1 From Mechanisms to Computation
    1.2 Historical Context
    1.3 Biological Inspiration
    1.4 Operational Regimes
    1.5 Operational Modes
    1.6 A Guide to This Book
    1.7 Further Reading
    1.8 Problems
    2 Fundamental Problems
    2.1 Path Planning for a Point Robot
    2.2 Localization for a Point Robot
    2.3 Sensing for a Point Robot
    2.4 Mapping for a Point Robot
    2.5 SLAM for a Point Robot
    2.6 Looking Forward
    2.7 Further Reading
    2.8 Problems
    Part One: Locomotion and Perception
    3 Mobile Robot Hardware
    3.1 Locomotion
    3.2 Off-Board Communication
    3.3 Processing
    3.4 Further Reading
    3.5 Problems
    4 Non-Visual Sensors and Algorithms
    4.1 Basic Concepts
    4.2 Contact Sensors: Bumpers
    4.3 Inertial Sensors
    4.4 Infrared Sensors
    4.5 Sonar
    4.6 Radar
    4.7 Laser Rangefinders
    4.8 Satellite-Based Positioning
    4.9 Data Fusion
    4.10 Biological Sensing
    4.11 Further Reading
    4.12 Problems
    5 Visual Sensors and Algorithms
    5.1 Visual Sensors
    5.2 Object Appearance and Shading
    5.3 Signals and Sampling
    5.4 Image Features and Their Combination
    5.5 Obtaining Depth
    5.6 Active Vision
    5.7 Other Sensors
    5.8 Biological Vision
    5.9 Further Reading
    5.10 Problems
    Part Two: Representation and Planning
    6 Representing and Reasoning About Space
    6.1 Representing Space
    6.2 Representing the Robot
    6.3 Path Planning for Mobile Robots
    6.4 Planning for Multiple Robots
    6.5 Biological Mapping
    6.6 Further Reading
    6.7 Problems
    7 System Control
    7.1 Horizontal Decomposition
    7.2 Vertical Decomposition
    7.3 Hybrid Control Architectures
    7.4 Middleware
    7.5 High-Level Control
    7.6 Alternative Control Formalisms
    7.7 The Human--Robot Interface
    7.8 Mobile Robot Software Development as Experimentation
    7.9 Standard Software Toolkits
    7.10 Further Reading
    7.11 Problems
    8 Pose Maintenance and Localization
    8.1 Simple Landmark Measurement
    8.2 Servo Control
    8.3 Recursive Filtering
    8.4 Non-Geometric Methods: Perceptual Structure
    8.5 Correlation-Based Localization
    8.6 Global Localization
    8.7 Biological Approaches to Localization
    8.8 Further Reading
    8.9 Problems
    9 Mapping and Related Tasks
    9.1 Sensorial Maps
    9.2 Geometric Maps
    9.3 Topological Maps
    9.4 Exploration
    9.5 Further Reading
    9.6 Problems
    10 Robot Collectives
    10.1 Categorizing Collectives
    10.2 Control Architectures
    10.3 Collective Communication
    10.4 Sensing
    10.5 Planning for Action
    10.6 Formation Control
    10.7 Localization
    10.8 Mapping
    10.9 Further Reading
    10.10 Problems
    11 Robots in Practice
    11.1 Delivery Robots
    11.2 Intelligent Vehicles
    11.3 Robots for Survey and Inspection
    11.4 Mining Automation
    11.5 Space Robotics
    11.6 Autonomous Aircraft
    11.7 Military Reconnaissance
    11.8 Bomb/Mine Disposal
    11.9 Underwater Inspection
    11.10 Agriculture/Forestry
    11.11 Aids for the Disabled
    11.12 Entertainment
    11.13 Domestic Robots
    11.14 Further Reading
    11.15 Problems
    12 The Future of Mobile Robotics
    12.1 Locomotion
    12.2 Sensors
    12.3 Control
    12.4 System Integration
    12.5 Standardization
    12.6 Future Directions
    Appendix A: Probability and Statistics
    A.1 Probabililty
    A.2 Some Simple Statistics
    A.3 Further Reading
    A.4 Problems
    Appendix B: Linear Systems, Matrices, and Filtering
    B.1 Linear Algebra
    B.2 Matrix Algebra
    B.3 Signals and Systems
    B.4 Fourier Theory
    B.5 Sampling and the Nyquist Theorem
    B.6 Further Reading
    B.7 Problems
    Appendix C: Markov Models
    C.1 Discrete Markov Process
    C.2 Hidden Markov Models
    C.3 Markov Decision Process
    C.4 POMDP
    C.5 Further Reading
    C.6 Problems
    Bibliography
    Index
    2
    Computational Principles of Mobile Robotics Mobile robotics is a multidisciplinary field involving both computer science and engineering. Addressing the design of automated systems, it lies at the intersection of artificial intelligence, computational vision, and robotics. This textbook for advanced undergraduates and graduate students emphasizes computation and algorithms for a range of strategies for locomotion, sensing, and reasoning. It concentrates on wheeled and legged mobile robots but also discusses a variety of other propulsion systems. The new edition presents advances in robotics and intelligent machines over the last 10 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 and students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies. 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. 3
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    Computational Principles of Mobile Robotics Second Edition Gregory Dudek McGill University Michael Jenkin York University 5
    Cambridge, New York, Melbourne, Madrid, Cape Town, Singapore, São Paulo, CAMBRIDGE UNIVERSITY PRESS Delhi, Dubai, Tokyo, Mexico City Cambridge University Press 32 Avenue of the Americas, New York, NY 10013-2473, USA Information on this title: www.cambridge.org/9780521692120 www.cambridge.org © Cambridge University Press 2010 This publication is in copyright. Subject to statutory exception and to the provisions of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of Cambridge University Press. First published 2010 Printed in the United States of America A catalog record for this publication is available from the British Library. Library of Congress Cataloging in Publication data Dudek, Gregory, 1958-- Computational principles of mobile robotics / Gregory Dudek, Michael Jenkin. -- 2nd ed. p. cm. Includes bibliographical references and index. ISBN 978-0-521-87157-0 1. Mobile robots. 2. Robotics -- Mathematics. I. Jenkin, Michael, 1959-- II. Title. TJ211.415.D83 2010 629.8′932 -- dc22 2010020795 ISBN 978-0-521-87157-0 Hardback ISBN 978-0-521-69212-0 Paperback Cambridge University Press has no responsibility for the persistence or accuracy of URLs for external or third-party Internet Web sites referred to in this publication and does not guarantee that any content on such Web sites is, or will remain, accurate or appropriate. 6
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