Designing Mobile Autonomous Robots : Inside the Mind of an Intelligent Machine (PAP/CDR)

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Designing Mobile Autonomous Robots : Inside the Mind of an Intelligent Machine (PAP/CDR)

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  • 製本 Paperback:紙装版/ペーパーバック版/ページ数 300 p.
  • 言語 ENG
  • 商品コード 9780750676830
  • DDC分類 629.892

基本説明

Accompanying CD-ROM provides software routines for key examples.

Full Description


Designing Autonomous Mobile Robots introduces the reader to the fundamental concepts of this complex field. The author addresses all the pertinent topics of the electronic hardware and software of mobile robot design, with particular emphasis on the more difficult problems of control, navigation, and sensor interfacing.Covering topics such as advanced sensor fusion, control systems for a wide array of application sensors and instrumentation, and fuzzy logic applications, this volume is essential reading for engineers undertaking robotics projects as well as undergraduate and graduate students studying robotic engineering, artificial intelligence, and cognitive science. Its state-of-the-art treatment of core concepts in mobile robotics helps and challenges readers in exploring new avenues in an exciting field.

Table of Contents

Foreword                                           xiii
What's on the CD-ROM? xv
SECTION 1- Background Software and Concepts 1 (104)
Chapter 1: Measure Twice, Cut Once 3 (8)
Determinism 3 (1)
Rule-based systems, state-driven systems, 4 (6)
and other potential tar pits
Defining an open architecture 10 (1)
Chapter 2: A Brief History of Software 11 (12)
Concepts
Assembly language 12 (1)
Early conventional languages 13 (2)
Compilers vs. interpreters 15 (2)
The GUI revolution 17 (1)
The great rift 18 (1)
Object-oriented programming 18 (2)
Robots and robot subsystems as objects 20 (1)
Network languages 21 (2)
Chapter 3: The Basics of Real-time Software 23 (22)
(For Mere Mortals)
Threads 23 (1)
Interrupts and stacks 24 (2)
Context 26 (2)
Kernels and tasks 28 (3)
Task switching 31 (1)
Interrupt events 31 (1)
Time slicing 32 (1)
Reentrance 32 (1)
Interrupt masking and interrupt priority 33 (1)
Inter-tas communications 34 (1)
Visual Basic and real-time controls 35 (1)
VB events 35 (1)
DoEvents 35 (3)
Freddy as a VB form 38 (2)
Modal controls 40 (1)
Some other tips on using VB for real-time 40 (1)
applications
Setting up a structure 40 (1)
Creating a library 41 (4)
Chapter 4: Thinking More Clearly Through 45 (10)
Fuzzy Logic
Trapezoidal fuzzy logic 49 (1)
Fuzzy democracy 50 (1)
Adaptive fuzzy logic 51 (1)
Weighting trapezoids in response to other 51 (2)
parameters
Multipass and fratricidal fuzzy logic 53 (1)
Summary 54 (1)
Chapter 5: Closed Loop Controls, Rabbits and 55 (22)
Hounds
Basic PID controls 58 (5)
Predictive controls 63 (1)
Combined reactive and predictive controls 64 (1)
Various PID enhancements 65 (4)
Robot drive controls 69 (4)
Tuning controls 73 (2)
Rabbits chasing rabbits 75 (1)
Conclusions 75 (2)
Chapter 6: Communications and Control 77 (28)
Popular networks 77 (4)
Rigid protocols and other really bad ideas 81 (4)
Flexible protocols 85 (3)
Communications architectures 88 (1)
Wrappers, layers, and shells 89 (4)
Drivers, OCXs and DLLs 93 (2)
Improving communications efficiency 95 (4)
Timing issues and error handling 99 (4)
Other issues 103 (2)
SECTION 2 - Basic Navigation 105 (220)
Chapter 7: Basic Navigation Philosophies 107 (10)
The academic school of thought 107 (2)
The industrial school of thought 109 (1)
Area coverage robots 109 (2)
Virtual path following vs. goal seeking 111 (4)
A practical starting point and a "priori" 115 (2)
knowledge
Chapter 8: Live Reckoning 117 (10)
Understanding why good dead reckoning is 120 (1)
crucial
Picking coordinate systems 121 (1)
Tick calculations 122 (4)
Live reckoning interaction with other 126 (1)
processes
Chapter 9: The Best Laid Plans of Mice and 127 (10)
Machines
Path planning and execution 128 (2)
Are we there yet? 130 (2)
Running on 132 (1)
Bread crumbs and irregular path following 132 (2)
The Z axis, maps, and wormholes 134 (1)
Summary 135 (2)
Chapter 10: Navigation as a Filtering Process 137 (8)
Filtering for the truth 137 (1)
The importance of uncertainty 138 (2)
Modeling uncertainty 140 (3)
Reducing uncertainty 143 (1)
Learning toe accurately uncertain 144 (1)
Uses of uncertainty 144 (1)
Chapter 11: Hard Navigation vs. Fuzzy 145 (24)
Navigation
Sensor data and maps 145 (2)
Navigation features 147 (2)
Hard navigation 149 (2)
The concept of fuzzy navigation 151 (13)
Other profiles 164 (1)
The referenced state 165 (1)
Reducing uncertainty 166 (3)
Chapter 12: Sensors, Navigation Agents and 169 (22)
Arbitration
Sensor types 169 (9)
Guidelines for selecting and deploying 178 (8)
navigation and collision avoidance sensors
Navigation agents 186 (1)
Agent properties and methods 186 (1)
Arbitration and competition among agents 187 (1)
Who to believe 188 (1)
Changing ones mind 189 (1)
Summary 189 (2)
Chapter 13: Instilling Pain, Fear and 191 (18)
Confidence
Pain and annoyance 191 (1)
Virtual pain 191 (3)
Avoiding pain and humiliation 194 (4)
The purpose of virtual confidence 198 (2)
Calculating virtual confidence 200 (7)
Summary 207 (2)
Chapter 14: Becoming Unstuck in Time 209 (10)
Getting past sequential thinking
Thinking of a mobile robot as multiple 214 (3)
robot time-places
Managing the time dimension 217 (2)
Chapter 15: Programming Robots to Be Useful 219 (20)
Preprogramming vs. teaching pats 219 (3)
Embedding data into maps 222 (1)
Map interpreters 223 (1)
Events and targets 224 (2)
Text-based programming 226 (5)
Graphical generation of text programs 231 (6)
Conclusions 237 (2)
Chapter 16: Command, Control, and Monitoring 239 (24)
Unmanaged an self-managed systems 240 (2)
Ping-pong job management 242 (1)
Dispatched job management 243 (5)
Exceptions 248 (3)
Exception decision making 251 (2)
Expert assistance 253 (1)
Status monitoring 254 (1)
Taking control 255 (2)
Some GUI rules 257 (4)
Robustness and context preservation 261 (1)
Conclusions 261 (2)
Chapter 17: The Law of Conservation of 263 (12)
Defects and the Art of Debugging
The law of conservation of defects 263 (4)
The art of debugging 267 (5)
Types of bugs 272 (2)
Summary 274 (1)
Chapter 18: "What the Hell Happened?" 275 (20)
Logging 278 (4)
Data mining using relational techniques 282 (8)
Incident reporting 290 (4)
Summary 294 (1)
Chapter 19: The Industry, Its Past and Its 295 (30)
Future
The history of robotics 296 (4)
The mobile robotics industry 300 (2)
Industry segmentation for autonomous mobile 302 (7)
robots
The government sector 309 (9)
Why aren't the robots here yet? 318 (3)
The future 321 (4)
Appendix: Referenced Laws and Formulas 325 (4)
Law of Sines and Law of Cosines 325 (1)
Simple 2D Vector Addition 326 (1)
Linear Regression 327 (2)
About the Author 329 (2)
Index 331