Introduction to Autonomous Mobile Robots
暫譯: 自動移動機器人導論

Roland Siegwart, Illah R. Nourbakhsh

Introduction to Autonomous Mobile Robots
  • 出版商: MIT
  • 出版日期: 2004-03-05
  • 售價: $960
  • 語言: 英文
  • 頁數: 335
  • 裝訂: Hardcover
  • ISBN: 026219502X
  • ISBN-13: 9780262195027
  • 相關分類: 機器人製作 Robots

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Description:

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.

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

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

 

Table of Contents:

Acknowledgements xi
Preface xiii
1. Introduction 1
2. Locomotion 13
3. Mobile Robot Kinematics 47
4. Perception 89
5. Mobile Robot Localization 181
6. Planning and Navigation 257
Bibliography 305
Index 317

商品描述(中文翻譯)

**描述：**
移動機器人範圍從火星探路者任務中的遙控機器人 Sojourner 到巴黎地鐵中的清潔機器人。《自動移動機器人導論》為學生和其他感興趣的讀者提供了移動技術的概述——使移動機器人能夠在現實世界環境中移動以執行任務的機制——包括運動、感知、定位和運動規劃。它討論了移動機器人的各個方面，包括硬體設計、輪子設計、運動學分析、感測器與感知、定位、地圖製作和機器人控制架構。

任何成功機器人的設計都涉及多個不同學科的整合，其中包括運動學、信號分析、信息理論、人工智慧和概率論。反映這一點，本書以一系列相互作用的模組呈現使移動成為可能的技術和技術。每一章涵蓋移動的不同方面，隨著書籍從低層次到高層次的細節進行。前兩章探討低層次的運動能力，檢視機器人的輪子和腿以及運動學原則。接下來是對感知的深入探討，包括許多「現成」感測器的描述和對感測數據解釋的分析。最後兩章考慮定位和認知的高層次挑戰，討論成功的定位策略、自主地圖製作和導航能力。《自動移動機器人導論》將移動機器人的所有方面整合到一本書中，可以作為課程的教科書或該領域初學者的工作工具。

Roland Siegwart 是瑞士聯邦理工學院自動系統實驗室的教授及主任。
Illah R. Nourbakhsh 是卡內基梅隆大學計算機科學學院機器人研究所的機器人學副教授。

**目錄：**
- 致謝 xi
- 前言 xiii
- 1. 引言 1
- 2. 運動 13
- 3. 移動機器人運動學 47
- 4. 感知 89
- 5. 移動機器人定位 181
- 6. 規劃與導航 257
- 參考文獻 305
- 索引 317

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