Introduction to autonomous mobile robots:
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Cambridge, Massachusetts ; London, England
The MIT Press
2011
|
| Edition: | second edition |
| Series: | Intelligent robotics and autonomous agents
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XVI, 453 S. Illustrationen, Diagramme |
| ISBN: | 9780262015356 |
Staff View
MARC
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| 100 | 1 | |a Siegwart, Roland |d 1959- |e Verfasser |0 (DE-588)1020078529 |4 aut | |
| 245 | 1 | 0 | |a Introduction to autonomous mobile robots |c Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza |
| 250 | |a second edition | ||
| 264 | 1 | |a Cambridge, Massachusetts ; London, England |b The MIT Press |c 2011 | |
| 300 | |a XVI, 453 S. |b Illustrationen, Diagramme | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
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| 650 | 4 | |a Autonomous robots | |
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| 650 | 0 | 7 | |a Robotik |0 (DE-588)4261462-4 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Mobiler Roboter |0 (DE-588)4191911-7 |2 gnd |9 rswk-swf |
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| adam_text | Contents
Acknowledgments
xiii
Preface
xv
1
Introduction
1
1.
í
Introduction
1
1.2
An Overview of the Book
11
2
Locomotion
13
2.1
Introduction
13
2.1.1
Key issues for locomotion
16
2.2
Legged Mobile Robots
17
2.2.1
Leg configurations and stability
18
2.2.2
Consideration of dynamics
21
2.2.3
Examples of legged robot locomotion
25
2.3
Wheeled Mobile Robots
35
2.3.1
Wheeled locomotion: The design space
35
2.3.2
Wheeled locomotion: Case studies
43
2.4
Aerial Mobile Robots
50
2.4.1
Introduction
50
2.4.2
Aircraft configurations
52
2.4.3
State of the art in autonomous VTOL
52
2.5
Problems
56
3
Mobile Robot Kinematics
57
3.1
Introduction
57
3.2
Kinematic Models and Constraints
58
viii
Contents
3.2.1
Representing
robot
position
3.2.2
Forward kinematic models
3.2.3
Wheel kinematic constraints
3.2.4
Robot kinematic constraints
3.2.5
Examples: Robot kinematic models and constraints
3.3
Mobile Robot Maneuverability
3.3.1
Degree of mobility
3.3.2
Degree of steerability
3.3.3
Robot maneuverability
3.4
Mobile Robot Workspace
3.4.1
Degrees of freedom
3.4.2
Holonomic robots
3.4.3
Path and trajectory considerations
3.5
Beyond Basic Kinematics
3.6
Motion Control (Kinematic Control)
3.6.1
Open loop control (trajectory-following)
3.6.2
Feedback control
3.7
Problems
58
61
63
71
73
77
77
81
82
84
84
85
87
90
91
91
92
99
PerceptioH
4.1
Sensors for Mobile Robots
4.1.1
Sensor classification
4.1.2
Characterizing sensor performance
4.2
.3
Representing uncertainty
.4
Wheel/motor sensors
.5
Heading sensors
.6
Accelerometers
.7
Inerţial
measurement unit
(IMU)
.8
Ground beacons
.9
Active ranging
. 10
Motion/speed sensors
. 11
Vision sensors
Fundamentals of Computer Vision
4.2.1
Introduction
4.2.2
The digital camera
4.2.3
Image formation
4.2.4
Omnidirectional cameras
4.2.5
Structure from stereo
4.2.6
Structure from motion
101
101
101
103
109
115
116
119
121
122
125
140
142
142
142
142
148
159
169
180
Contents ix
4.2.7 Motion
and optical flow
189
4.2.8
Color tracking
192
4.3
Fundamentals of Image Processing
195
4.3.1
Image filtering
196
4.3.2
Edge detection
199
4.3.3
Computing image similarity
207
4.4
Feature Extraction
208
4.5
Image Feature Extraction: Interest Point Detectors
212
4.5.1
Introduction
212
4.5.2
Properties of the ideal feature detector
213
4.5.3
Corner detectors
215
4.5.4
Invariance
to photometric and geometric changes
220
4.5.5
Blob detectors
227
4.6
Place Recognition
234
4.6.1
Introduction
234
4.6.2
From bag of features to visual words
235
4.6.3
Efficient location recognition by using an inverted file
236
4.6.4
Geometric verification for robust place recognition
237
4.6.5
Applications
237
4.6.6
Other image representations for place recognition
238
4.7
Feature Extraction Based on Range Data (Laser, Ultrasonic)
242
4.7.1
Line fitting
243
4.7.2
Six line-extraction algorithms
248
4.7.3
Range histogram features
259
4.7.4
Extracting other geometric features
260
4.8
Problems
262
Mobile Robot Localization
265
5.1
Introduction
265
5.2
The Challenge of Localization: Noise and Aliasing
266
5.2.1
Sensor noise
267
5.2.2
Sensor aliasing
268
5.2.3
Effector noise
269
5.2.4
An error model for
udometrie
position estimation
270
5.3
To Localize or Not to Localize: Localization-Based Navigation Versus
Programmed Solutions
275
5.4
Belief Representation
278
5.4.1
Single-hypothesis belief
278
5.4.2
Multiple-hypothesis belief
280
Contents
5.5 Map
Representation
284
5.5.1
Continuous representations
284
5.5.2
Decomposition strategies
287
5.5.3
State of the art: Current challenges in map representation
294
5.6
Probabilistic Map-Based Localization
296
5.6.1
Introduction
296
5.6.2
The robot localization problem
297
5.6.3
Basic concepts of probability theory
299
5.6.4
Terminology
302
5.6.5
The ingredients of probabilistic map-based localization
304
5.6.6
Classification of localization problems
306
5.6.7
Markov localization
307
5.6.8
Kalman
filter localization
322
5.7
Other Examples of Localization Systems
342
5.7.1
Landmark-based navigation
344
5.7.2
Globally unique localization
345
5.7.3
Positioning beacon systems
346
5.7.4
Route-based localization
347
5.8
Autonomous Map Building
348
5.8.1
Introduction
348
5.8.2
SLAM: The simultaneous localization and mapping problem
349
5.8.3
Mathematical definition of SLAM
351
5.8.4
Extended
Kalman
Filter (EKF) SLAM
353
5.8.5
Visual SLAM with a single camera
356
5.8.6
Discussion on EKF SLAM
359
5.8.7
Graph-based SLAM
361
5.8.8
Particle filter SLAM
363
5.8.9
Open challenges in SLAM
364
5.8.10
Open source SLAM software and other resources
365
5.9
Problems
366
Planning and Navigation
369
6.1
Introduction
369
6.2
Competences for Navigation: Planning and Reacting
370
6.3
Path Planning
371
6.3.1
Graph search
373
6.3.2
Potential field path planning
386
6.4
Obstacle avoidance
393
6.4.1
Bug algorithm
393
Contents xi
6.4.2
Vector
field histogram
397
6.4.3
The bubble band technique
399
6.4.4
Curvature velocity techniques
401
6.4.5
Dynamic window approaches
402
6.4.6
The
Schlegel
approach to obstacle avoidance
404
6.4.7
Nearness diagram
405
6.4.8
Gradient method
405
6.4.9
Adding dynamic constraints
406
6.4.10
Other approaches
406
6.4.11
Overview
406
6.5
Navigation Architectures
409
6.5.1
Modularity for code reuse and sharing
410
6.5.2
Control localization
410
6.5.3
Techniques for decomposition
411
6.5.4
Case studies: tiered robot architectures
416
6.6
Problems
423
Bibliography
425
Books
425
Papers
427
Referenced Webpages
444
Index
447
|
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| author | Siegwart, Roland 1959- Nourbakhsh, Illah Reza 1970- Scaramuzza, Davide 1980- |
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| discipline | Informatik Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | second edition |
| format | Book |
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| id | DE-604.BV037336558 |
| illustrated | Illustrated |
| indexdate | 2025-02-20T06:42:13Z |
| institution | BVB |
| isbn | 9780262015356 |
| language | English |
| lccn | 2010028053 |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-022490354 |
| oclc_num | 729973243 |
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| physical | XVI, 453 S. Illustrationen, Diagramme |
| publishDate | 2011 |
| publishDateSearch | 2011 |
| publishDateSort | 2011 |
| publisher | The MIT Press |
| record_format | marc |
| series2 | Intelligent robotics and autonomous agents |
| spellingShingle | Siegwart, Roland 1959- Nourbakhsh, Illah Reza 1970- Scaramuzza, Davide 1980- Introduction to autonomous mobile robots Mobile robots Autonomous robots Autonomer Roboter (DE-588)4304075-5 gnd Robotik (DE-588)4261462-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| subject_GND | (DE-588)4304075-5 (DE-588)4261462-4 (DE-588)4191911-7 |
| title | Introduction to autonomous mobile robots |
| title_auth | Introduction to autonomous mobile robots |
| title_exact_search | Introduction to autonomous mobile robots |
| title_full | Introduction to autonomous mobile robots Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza |
| title_fullStr | Introduction to autonomous mobile robots Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza |
| title_full_unstemmed | Introduction to autonomous mobile robots Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza |
| title_short | Introduction to autonomous mobile robots |
| title_sort | introduction to autonomous mobile robots |
| topic | Mobile robots Autonomous robots Autonomer Roboter (DE-588)4304075-5 gnd Robotik (DE-588)4261462-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| topic_facet | Mobile robots Autonomous robots Autonomer Roboter Robotik Mobiler Roboter |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=022490354&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT siegwartroland introductiontoautonomousmobilerobots AT nourbakhshillahreza introductiontoautonomousmobilerobots AT scaramuzzadavide introductiontoautonomousmobilerobots |
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2000 ZQ 6230 S571(2) |
|---|---|
| Copy 1 | nicht ausleihbar Checked out – Due: 26.08.2025 Recall This |