Autonomous land vehicles: steps towards Service Robots
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Wiesbaden
Vieweg + Teubner
2009
|
| Ausgabe: | 1. ed. |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | 283 S. Ill., graph. Darst. 240 mm x 170 mm |
| ISBN: | 9783834804211 3834804215 |
Internformat
MARC
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| 245 | 1 | 0 | |a Autonomous land vehicles |b steps towards Service Robots |c Karsten Berns ; Ewald von Puttkamer |
| 250 | |a 1. ed. | ||
| 264 | 1 | |a Wiesbaden |b Vieweg + Teubner |c 2009 | |
| 300 | |a 283 S. |b Ill., graph. Darst. |c 240 mm x 170 mm | ||
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Datensatz im Suchindex
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|---|---|
| adam_text |
Titel: Autonomous land vehicles
Autor: Berns, Karsten
Jahr: 2009
Contents
1 Introduction 1
1.1 Autonomous mobile robots 1
1.2 Applications of autonomous mobile robots 4
1.3 Historical overview 7
1.4 Book overview 13
2 Kinematics 15
2.1 Basics 15
2.2 Wheel kinematics 19
2.2.1 Kinematics of a differential drive vehicle 22
2.2.2 Kinematics of an omnidirectional vehicle 23
2.2.3 Kinematics of a vehicle with Mecanum wheels 25
2.2.4 Pose calculation based on velocities 27
2.3 Geometrical solution for vehicle kinematics 28
2.3.1 Differential drive 28
2.3.2 Tricycle drive 30
2.3.3 Ackermann steering 31
2.3.4 Double Ackermann steering 32
2.3.5 Synchro drive 34
2.3.6 Omnidrive 35
2.4 Applying mobile robot kinematics 37
3 Sensors 39
3.1 Tactile sensors 40
3.1.1 Switches 40
3.1.2 Bumper 40
3.1.3 Force sensors 41
3.2 Pose measurement 42
3.2.1 Odometry sensors 42
3.2.2 Compass 44
3.2.3 Inclinometers 44
3.3 Sensors for inertial systems 46
3.3.1 Acceleration sensors 46
3.3.2 Turning rate sensors 50
3.4 Distance sensors 55
3.4.1 Infrared sensors 56
3.4.2 Ultrasonic sensors 58
3.4.3 Correlation of ultrasound signals 60
3.4.4 Laser sensors 63
3.5 Vision sensors 66
3.5.1 CCD camera 66
3.5.2 CMOS camera 66
3.5.3 Stereo-camera systems 66
4 Localization 73
4.1 Pose calculation from odometry 73
4.2 Inertial measurement units (IMU) 76
4.2.1 Simplified inertial calculation 78
4.2.2 Implementation example with heuristics for absolute
orientation measurement 80
4.3 Localization based on optical flow 83
4.4 Feature extraction from laser radar data 86
4.4.1 Obstacles 86
4.4.2 Line extraction 86
4.5 Landmarks 90
4.5.1 Natural landmarks 90
4.5.2 Artificial landmarks 90
4.5.3 Triangulation using landmarks 90
4.5.4 Measuring distances to artificial landmarks 94
4.5.5 Artificial active landmarks 95
4.6 Global positioning system (GPS) 99
4.7 Kalman filter 100
4.7.1 General idea 101
4.7.2 Guessing error 102
4.7.3 Example application 103
5 Mapping 106
5.1 Metrical maps 108
5.1.1 Line based metrical maps 108
5.1.2 Plane based metrical maps 113
5.1.3 Feature-based metrical maps 119
5.2 Grid maps 126
5.2.1 Occupancy grid maps 127
5.3 Sector maps 129
5.4 Topological maps 134
5.4.1 Growing neural gas net 137
5.5 Hybrid maps 143
6 Simultaneous localization and mapping (SLAM) 146
6.1 The general approach 146
6.2 Merging local maps 148
6.2.1 Correlation of laser scans 149
6.2.2 Correlation of point clouds 153
6.2.3 Loop closing 158
6.3 Probabilistic methods 159
6.3.1 An uncertainty model 159
6.3.2 SLAM as Bayesian network 160
6.3.3 The path estimator 162
6.3.4 The landmark estimators 163
6.3.5 Numeric computation of FastSLAM 164
6.4 Exploration of the environment 169
7 Navigation 173
7.1 Global path planning 173
7.1.1 A*-algorithm 173
7.1.2 Solving a maze 178
7.1.3 Back tracking algorithm 178
7.2 Local path planning 181
7.2.1 Path planning on geometric maps 181
Large free space 182
Narrow free room 186
7.2.2 Navigation on a raster map 193
7.2.3 Quadtree based path planning 196
7.2.4 Area covering paths 197
7.2.5 Exploration 201
7.2.6 Obstacle avoidance 203
7.2.7 Potential field method 206
7.2.8 Basic abilities 208
7.3 Path control 218
8 Control Architectures 222
8.1 The hierarchical task-oriented control architecture RCS . 224
8.2 Behavior-based control architectures 227
8.2.1 The Subsumption Architecture 229
8.2.2 Reuse and temporal sequences of behaviors 231
8.3 The integrated behavior-based control architecture iB2C . 232
8.3.1 The basic behavior module 233
Example behavior Turn to object 236
8.3.2 Fusion behavior module 236
Maximum fusion (winner takes all) 238
Weighted fusion 238
Weighted sum fusion 239
8.3.3 Behavior interaction 240
8.3.4 Behavior coordination 241
8.3.5 Design guidelines 243
8.3.6 Analysis of iB2C networks 246
9 Software frameworks 249
9.1 The Player Project 250
9.2 Microsoft Robotics Developer Studio 253
9.3 Orca 257
9.4 MCA - Modular Controller Architecture 261
9.5 Summary and comparison of robotic frameworks 264
Bibliography 267
Index 280 |
| any_adam_object | 1 |
| author | Berns, Karsten Puttkamer, Ewald von 1936-2017 |
| author_GND | (DE-588)112735711 (DE-588)107199203 |
| author_facet | Berns, Karsten Puttkamer, Ewald von 1936-2017 |
| author_role | aut aut |
| author_sort | Berns, Karsten |
| author_variant | k b kb e v p ev evp |
| building | Verbundindex |
| bvnumber | BV035769785 |
| classification_rvk | ST 308 ZQ 6230 |
| ctrlnum | (OCoLC)254575187 (DE-599)DNB988007061 |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. ed. |
| format | Book |
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| id | DE-604.BV035769785 |
| illustrated | Illustrated |
| indexdate | 2024-11-11T09:11:25Z |
| institution | BVB |
| isbn | 9783834804211 3834804215 |
| language | English |
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| physical | 283 S. Ill., graph. Darst. 240 mm x 170 mm |
| publishDate | 2009 |
| publishDateSearch | 2009 |
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| spelling | Berns, Karsten Verfasser (DE-588)112735711 aut Autonomous land vehicles steps towards Service Robots Karsten Berns ; Ewald von Puttkamer 1. ed. Wiesbaden Vieweg + Teubner 2009 283 S. Ill., graph. Darst. 240 mm x 170 mm txt rdacontent n rdamedia nc rdacarrier Serviceroboter (DE-588)4396128-9 gnd rswk-swf Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf (DE-588)4123623-3 Lehrbuch gnd-content Autonomer Roboter (DE-588)4304075-5 s DE-604 Serviceroboter (DE-588)4396128-9 s Puttkamer, Ewald von 1936-2017 Verfasser (DE-588)107199203 aut HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018629509&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Berns, Karsten Puttkamer, Ewald von 1936-2017 Autonomous land vehicles steps towards Service Robots Serviceroboter (DE-588)4396128-9 gnd Autonomer Roboter (DE-588)4304075-5 gnd |
| subject_GND | (DE-588)4396128-9 (DE-588)4304075-5 (DE-588)4123623-3 |
| title | Autonomous land vehicles steps towards Service Robots |
| title_auth | Autonomous land vehicles steps towards Service Robots |
| title_exact_search | Autonomous land vehicles steps towards Service Robots |
| title_full | Autonomous land vehicles steps towards Service Robots Karsten Berns ; Ewald von Puttkamer |
| title_fullStr | Autonomous land vehicles steps towards Service Robots Karsten Berns ; Ewald von Puttkamer |
| title_full_unstemmed | Autonomous land vehicles steps towards Service Robots Karsten Berns ; Ewald von Puttkamer |
| title_short | Autonomous land vehicles |
| title_sort | autonomous land vehicles steps towards service robots |
| title_sub | steps towards Service Robots |
| topic | Serviceroboter (DE-588)4396128-9 gnd Autonomer Roboter (DE-588)4304075-5 gnd |
| topic_facet | Serviceroboter Autonomer Roboter Lehrbuch |
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