资源目录
压缩包内文档预览：(预览前20页/共337页)
编号：9324121
类型：共享资源
大小：8.96MB
格式：ZIP
上传时间：2018-03-05
上传人：机****料
认证信息
个人认证
高**（实名认证）
河南
IP属地：河南
50
积分
- 关 键 词：
-
机器人
结构设计
全套
cad
图纸
- 资源描述：
-
- 内容简介：
-
INTRODUCTIONTOROLANDSIEGWARTILLAHRNOURBAKHSHAUTONOMOUSMOBILEROBOTSINTRODUCTIONTOAUTONOMOUSMOBILEROBOTSINTELLIGENTROBOTICSANDAUTONOMOUSAGENTSRONALDCARKIN,EDITORROBOTSHAPINGANEXPERIMENTINBEHAVIORENGINEERING,MARCODORIGOANDMARCOCOLOMBETTI,1997BEHAVIORBASEDROBOTICS,RONALDCARKIN,1998LAYEREDLEARNINGINMULTIAGENTSYSTEMSAWINNINGAPPROACHTOROBOTICSOCCER,PETERSTONE,2000EVOLUTIONARYROBOTICSTHEBIOLOGY,INTELLIGENCE,ANDTECHNOLOGYOFSELFORGANIZINGMACHINES,STEFANONOLFIANDDARIOFLOREANO,2000REASONINGABOUTRATIONALAGENTS,MICHAELWOOLDRIDGE,2000INTRODUCTIONTOAIROBOTICS,ROBINRMURPHY,2000STRATEGICNEGOTIATIONINMULTIAGENTENVIRONMENTS,SARITKRAUS,2001MECHANICSOFROBOTICMANIPULATION,MATTHEWTMASON,2001DESIGNINGSOCIABLEROBOTS,CYNTHIALBREAZEAL,2002INTRODUCTIONTOAUTONOMOUSMOBILEROBOTS,ROLANDSIEGWARTANDILLAHRNOURBAKHSH,2004INTRODUCTIONTOAUTONOMOUSMOBILEROBOTSROLANDSIEGWARTANDILLAHRNOURBAKHSHABRADFORDBOOKTHEMITPRESSCAMBRIDGE,MASSACHUSETTSLONDON,ENGLAND2004MASSACHUSETTSINSTITUTEOFTECHNOLOGYALLRIGHTSRESERVEDNOPARTOFTHISBOOKMAYBEREPRODUCEDINANYFORMBYANYELECTRONICORMECHANICALMEANSINCLUDINGPHOTOCOPYING,RECORDING,ORINFORMATIONSTORAGEANDRETRIEVALWITHOUTPERMISSIONINWRITINGFROMTHEPUBLISHERTHISBOOKWASSETINTIMESROMANBYTHEAUTHORSUSINGADOBEFRAMEMAKER70PRINTEDANDBOUNDINTHEUNITEDSTATESOFAMERICALIBRARYOFCONGRESSCATALOGINGINPUBLICATIONDATASIEGWART,ROLANDINTRODUCTIONTOAUTONOMOUSMOBILEROBOTS/ROLANDSIEGWARTANDILLAHNOURBAKHSHPCMINTELLIGENTROBOTICSANDAUTONOMOUSAGENTS“ABRADFORDBOOK”INCLUDESBIBLIOGRAPHICALREFERENCESANDINDEXISBN026219502XHCALKPAPER1MOBILEROBOTS2AUTONOMOUSROBOTSINOURBAKHSH,ILLAHREZA,1970IITITLEIIISERIESTJ211415S542004629892DC222003059349TOLUZIAANDMYCHILDRENJANINA,MALINANDYANIKWHOGIVEMETHEIRSUPPORTANDFREEDOMTOGROWEVERYDAYRSTOMYPARENTSSUSIANDYVOWHOOPENEDMYEYESRSTOMARTIWHOISMYLOVEANDMYINSPIRATIONIRNTOMYPARENTSFATEMEHANDMAHMOUDWHOLETMEDISASSEMBLEANDINVESTIGATEEVERYTHINGINOURHOMEIRNSLIDESANDEXERCISESTHATGOWITHTHISBOOKAREAVAILABLEONHTTP/WWWMOBILEROBOTSORGCONTENTSACKNOWLEDGMENTSXIPREFACEXIII1INTRODUCTION111INTRODUCTION112ANOVERVIEWOFTHEBOOK102LOCOMOTION1321INTRODUCTION13211KEYISSUESFORLOCOMOTION1622LEGGEDMOBILEROBOTS17221LEGCONFIGURATIONSANDSTABILITY18222EXAMPLESOFLEGGEDROBOTLOCOMOTION2123WHEELEDMOBILEROBOTS30231WHEELEDLOCOMOTIONTHEDESIGNSPACE31232WHEELEDLOCOMOTIONCASESTUDIES383MOBILEROBOTKINEMATICS4731INTRODUCTION4732KINEMATICMODELSANDCONSTRAINTS48321REPRESENTINGROBOTPOSITION48322FORWARDKINEMATICMODELS51323WHEELKINEMATICCONSTRAINTS53324ROBOTKINEMATICCONSTRAINTS61325EXAMPLESROBOTKINEMATICMODELSANDCONSTRAINTS6333MOBILEROBOTMANEUVERABILITY67331DEGREEOFMOBILITY67332DEGREEOFSTEERABILITY71333ROBOTMANEUVERABILITY72VIIICONTENTS34MOBILEROBOTWORKSPACE74341DEGREESOFFREEDOM74342HOLONOMICROBOTS75343PATHANDTRAJECTORYCONSIDERATIONS7735BEYONDBASICKINEMATICS8036MOTIONCONTROLKINEMATICCONTROL81361OPENLOOPCONTROLTRAJECTORYFOLLOWING81362FEEDBACKCONTROL824PERCEPTION8941SENSORSFORMOBILEROBOTS89411SENSORCLASSIFICATION89412CHARACTERIZINGSENSORPERFORMANCE92413WHEEL/MOTORSENSORS97414HEADINGSENSORS98415GROUNDBASEDBEACONS101416ACTIVERANGING104417MOTION/SPEEDSENSORS115418VISIONBASEDSENSORS11742REPRESENTINGUNCERTAINTY145421STATISTICALREPRESENTATION145422ERRORPROPAGATIONCOMBININGUNCERTAINMEASUREMENTS14943FEATUREEXTRACTION151431FEATUREEXTRACTIONBASEDONRANGEDATALASER,ULTRASONIC,VISIONBASEDRANGING154432VISUALAPPEARANCEBASEDFEATUREEXTRACTION1635MOBILEROBOTLOCALIZATION18151INTRODUCTION18152THECHALLENGEOFLOCALIZATIONNOISEANDALIASING182521SENSORNOISE183522SENSORALIASING184523EFFECTORNOISE185524ANERRORMODELFORODOMETRICPOSITIONESTIMATION18653TOLOCALIZEORNOTTOLOCALIZELOCALIZATIONBASEDNAVIGATIONVERSUSPROGRAMMEDSOLUTIONS19154BELIEFREPRESENTATION194541SINGLEHYPOTHESISBELIEF194542MULTIPLEHYPOTHESISBELIEF196CONTENTSIX55MAPREPRESENTATION200551CONTINUOUSREPRESENTATIONS200552DECOMPOSITIONSTRATEGIES203553STATEOFTHEARTCURRENTCHALLENGESINMAPREPRESENTATION21056PROBABILISTICMAPBASEDLOCALIZATION212561INTRODUCTION212562MARKOVLOCALIZATION214563KALMANFILTERLOCALIZATION22757OTHEREXAMPLESOFLOCALIZATIONSYSTEMS244571LANDMARKBASEDNAVIGATION245572GLOBALLYUNIQUELOCALIZATION246573POSITIONINGBEACONSYSTEMS248574ROUTEBASEDLOCALIZATION24958AUTONOMOUSMAPBUILDING250581THESTOCHASTICMAPTECHNIQUE250582OTHERMAPPINGTECHNIQUES2536PLANNINGANDNAVIGATION25761INTRODUCTION25762COMPETENCESFORNAVIGATIONPLANNINGANDREACTING258621PATHPLANNING259622OBSTACLEAVOIDANCE27263NAVIGATIONARCHITECTURES291631MODULARITYFORCODEREUSEANDSHARING291632CONTROLLOCALIZATION291633TECHNIQUESFORDECOMPOSITION292634CASESTUDIESTIEREDROBOTARCHITECTURES298BIBLIOGRAPHY305BOOKS305PAPERS306REFERENCEDWEBPAGES314INTERESTINGINTERNETLINKSTOMOBILEROBOTS314INDEX317ACKNOWLEDGMENTSTHISBOOKISTHERESULTOFINSPIRATIONSANDCONTRIBUTIONSFROMMANYRESEARCHERSANDSTUDENTSATTHESWISSFEDERALINSTITUTEOFTECHNOLOGYLAUSANNEEPFL,CARNEGIEMELLONUNIVERSITYSROBOTICSINSTITUTE,PITTSBURGHCMU,ANDMANYOTHERSAROUNDTHEGLOBEWEWOULDLIKETOTHANKALLTHERESEARCHERSINMOBILEROBOTICSTHATMAKETHISFIELDSORICHANDSTIMULATINGBYSHARINGTHEIRGOALSANDVISIONSWITHTHECOMMUNITYITISTHEIRWORKTHATENABLESUSTOCOLLECTTHEMATERIALFORTHISBOOKTHEMOSTVALUABLEANDDIRECTSUPPORTANDCONTRIBUTIONFORTHISBOOKCAMEFROMOURPASTANDCURRENTCOLLABORATORSATEPFLANDCMUWEWOULDLIKETOTHANKKAIARRASFORHISCONTRIBUTIONTOUNCERTAINTYREPRESENTATION,FEATUREEXTRACTIONANDKALMANFILTERLOCALIZATIONMATTMASONFORHISINPUTONKINEMATICSNICOLATOMATISANDREMYBLANKFORTHEIRSUPPORTANDASSISTANCEFORTHESECTIONONVISIONBASEDSENSINGALRIZZIFORHISGUIDANCEONFEEDBACKCONTROLROLANDPHILIPPSENANDJANPERSSONFORTHEIRCONTRIBUTIONTOOBSTACLEAVOIDANCEGILLESCAPRARIANDYVESPIGUETFORTHEIRINPUTANDSUGGESTIONSONMOTIONCONTROLAGOSTINOMARTINELLIFORHISCAREFULCHECKINGOFSOMEOFTHEEQUATIONSANDMARCOLAURIAFOROFFERINGHISTALENTFORSOMEOFTHEFIGURESTHANKSALSOTOMARTILOUWFORHEREFFORTSONTHECOVERDESIGNTHISBOOKWASALSOINSPIREDBYOTHERCOURSES,ESPECIALLYBYTHELECTURENOTESONMOBILEROBOTICSATTHESWISSFEDERALINSTITUTEOFTECHNOLOGY,ZURICHETHZSINCERETHANKGOESTOGERHARDSCHWEITZER,MARTINADAMSANDSJURVESTLIATTHEROBOTICSINSTITUTESPECIALTHANKSGOTOEMILYHAMNERANDJEANHARPLEYFORCOLLECTINGANDORGANIZINGPHOTOPUBLICATIONPERMISSIONSTHEMATERIALFORTHISBOOKHASBEENUSEDFORLECTURESATEFPLANDCMUSINCE1997THANKSGOTOALLTHEMANYHUNDREDSOFSTUDENTSTHATFOLLOWEDTHELECTUREANDCONTRIBUTEDTHOUGHTTHEIRCORRECTIONSANDCOMMENTSITHASBEENAPLEASURETOWORKWITHMITPRESS,PUBLISHEROFTHISBOOKTHANKSTORONALDCARKINANDTHEEDITORIALBOARDOFTHEINTELLIGENTROBOTICSANDAUTONOMOUSAGENTSSERIESFORTHEIRCAREFULANDVALUABLEREVIEWANDTOROBERTPRIOR,KATHERINEALMEIDA,SHARONDEACONWARNE,ANDVALERIEGEARYFROMMITPRESSFORTHEIRHELPINEDITINGANDFINALIZINGTHEBOOKSPECIALTHANKSALSOTOMARIEJOPELLAUDATEPFLFORCAREFULLYCORRECTINGTHETEXTFILESANDTOOURCOLLEAGUESATTHESWISSFEDERALINSTITUTEOFTECHNOLOGYLAUSANNEANDCARNEGIEMELLONUNIVERSITYPREFACEMOBILEROBOTICSISAYOUNGFIELDITSROOTSINCLUDEMANYENGINEERINGANDSCIENCEDISCIPLINES,FROMMECHANICAL,ELECTRICALANDELECTRONICSENGINEERINGTOCOMPUTER,COGNITIVEANDSOCIALSCIENCESEACHOFTHESEPARENTFIELDSHASITSSHAREOFINTRODUCTORYTEXTBOOKSTHATEXCITEANDINFORMPROSPECTIVESTUDENTS,PREPARINGTHEMFORFUTUREADVANCEDCOURSEWORKANDRESEARCHOUROBJECTIVEINWRITINGTHISTEXTBOOKISTOPROVIDEMOBILEROBOTICSWITHSUCHAPREPARATORYGUIDETHISBOOKPRESENTSANINTRODUCTIONTOTHEFUNDAMENTALSOFMOBILEROBOTICS,SPANNINGTHEMECHANICAL,MOTOR,SENSORY,PERCEPTUALANDCOGNITIVELAYERSTHATCOMPRISEOURFIELDOFSTUDYACOLLECTIONOFWORKSHOPPROCEEDINGSANDJOURNALPUBLICATIONSCOULDPRESENTTHENEWSTUDENTWITHASNAPSHOTOFTHESTATEOFTHEARTINALLASPECTSOFMOBILEROBOTICSBUTHEREWEAIMTOPRESENTAFOUNDATIONAFORMALINTRODUCTIONTOTHEFIELDTHEFORMALISMANDANALYSISHEREINWILLPROVEUSEFULEVENASTHEFRONTIEROFTHESTATEOFTHEARTADVANCESDUETOTHERAPIDPROGRESSINALLOFMOBILEROBOTICSSUBDISCIPLINESWEHOPETHATTHISBOOKWILLEMPOWERBOTHTHEUNDERGRADUATEANDGRADUATEROBOTICSSTUDENTWITHTHEBACKGROUNDKNOWLEDGEANDANALYTICALTOOLSTHEYWILLNEEDTOEVALUATEANDEVENCRITIQUEMOBILEROBOTPROPOSALSANDARTIFACTSTHROUGHOUTTHEIRCAREERTHISTEXTBOOKISSUITABLEASAWHOLEFORINTRODUCTORYMOBILEROBOTICSCOURSEWORKATBOTHTHEUNDERGRADUATEANDGRADUATELEVELINDIVIDUALCHAPTERSSUCHASTHOSEONPERCEPTIONORKINEMATICSCANBEUSEFULASOVERVIEWSINMOREFOCUSEDCOURSESONSPECIFICSUBFIELDSOFROBOTICSTHEORIGINSOFTHETHISBOOKBRIDGETHEATLANTICOCEANTHEAUTHORSHAVETAUGHTCOURSESONMOBILEROBOTICSATTHEUNDERGRADUATEANDGRADUATELEVELATSTANFORDUNIVERSITY,ETHZURICH,CARNEGIEMELLONUNIVERSITYANDEPFLLAUSANNETHEIRCOMBINEDSETOFCURRICULUMDETAILSANDLECTURENOTESFORMEDTHEEARLIESTVERSIONSOFTHISTEXTWEHAVECOMBINEDOURINDIVIDUALNOTES,PROVIDEDOVERALLSTRUCTUREANDTHENTESTTAUGHTUSINGTHISTEXTBOOKFORTWOADDITIONALYEARSBEFORESETTLINGONTHECURRENT,PUBLISHEDTEXTFORANOVERVIEWOFTHEORGANIZATIONOFTHEBOOKANDSUMMARIESOFINDIVIDUALCHAPTERS,REFERTOSECTION12FINALLY,FORTHETEACHERANDTHESTUDENTWEHOPETHATTHISTEXTBOOKPROVESTOBEAFRUITFULLAUNCHINGPOINTFORMANYCAREERSINMOBILEROBOTICSTHATWOULDBETHEULTIMATEREWARD1INTRODUCTION11INTRODUCTIONROBOTICSHASACHIEVEDITSGREATESTSUCCESSTODATEINTHEWORLDOFINDUSTRIALMANUFACTURINGROBOTARMS,ORMANIPULATORS,COMPRISEA2BILLIONDOLLARINDUSTRYBOLTEDATITSSHOULDERTOASPECIFICPOSITIONINTHEASSEMBLYLINE,THEROBOTARMCANMOVEWITHGREATSPEEDANDACCURACYTOPERFORMREPETITIVETASKSSUCHASSPOTWELDINGANDPAINTINGFIGURE11INTHEELECTRONICSINDUSTRY,MANIPULATORSPLACESURFACEMOUNTEDCOMPONENTSWITHSUPERHUMANPRECISION,MAKINGTHEPORTABLETELEPHONEANDLAPTOPCOMPUTERPOSSIBLEYET,FORALLOFTHEIRSUCCESSES,THESECOMMERCIALROBOTSSUFFERFROMAFUNDAMENTALDISADVANTAGELACKOFMOBILITYAFIXEDMANIPULATORHASALIMITEDRANGEOFMOTIONTHATDEPENDSFIGURE11PICTUREOFAUTOASSEMBLYPLANTSPOTWELDINGROBOTOFKUKAANDAPARALLELROBOTDELTAOFSIGDEMAUREXSAINVENTEDATEPFL140DURINGPACKAGINGOFCHOCOLATESKUKAINCSIGDEMAUREXSA2CHAPTER1ONWHEREITISBOLTEDDOWNINCONTRAST,AMOBILEROBOTWOULDBEABLETOTRAVELTHROUGHOUTTHEMANUFACTURINGPLANT,FLEXIBLYAPPLYINGITSTALENTSWHEREVERITISMOSTEFFECTIVETHISBOOKFOCUSESONTHETECHNOLOGYOFMOBILITYHOWCANAMOBILEROBOTMOVEUNSUPERVISEDTHROUGHREALWORLDENVIRONMENTSTOFULFILLITSTASKSTHEFIRSTCHALLENGEISLOCOMOTIONITSELFHOWSHOULDAMOBILEROBOTMOVE,ANDWHATISITABOUTAPARTICULARLOCOMOTIONMECHANISMTHATMAKESITSUPERIORTOALTERNATIVELOCOMOTIONMECHANISMSHOSTILEENVIRONMENTSSUCHASMARSTRIGGEREVENMOREUNUSUALLOCOMOTIONMECHANISMSFIGURE12INDANGEROUSANDINHOSPITABLEENVIRONMENTS,EVENONEARTH,SUCHTELEOPERATEDSYSTEMSHAVEGAINEDPOPULARITYFIGURES13,14,15,16INTHESECASES,THELOWLEVELCOMPLEXITIESOFTHEROBOTOFTENMAKEITIMPOSSIBLEFORAHUMANOPERATORTODIRECTLYCONTROLITSMOTIONSTHEHUMANPERFORMSLOCALIZATIONANDCOGNITIONACTIVITIES,BUTRELIESONTHEROBOTSCONTROLSCHEMETOPROVIDEMOTIONCONTROLFOREXAMPLE,PLUSTECHSWALKINGROBOTPROVIDESAUTOMATICLEGCOORDINATIONWHILETHEHUMANOPERATORCHOOSESANOVERALLDIRECTIONOFTRAVELFIGURE13FIGURE16DEPICTSANUNDERWATERVEHICLETHATCONTROLSSIXPROPELLERSTOAUTONOMOUSLYSTABILIZETHEROBOTSUBMARINEINSPITEOFUNDERWATERTURBULENCEANDWATERCURRENTSWHILETHEOPERATORCHOOSESPOSITIONGOALSFORTHESUBMARINETOACHIEVEOTHERCOMMERCIALROBOTSOPERATENOTWHEREHUMANSCANNOTGOBUTRATHERSHARESPACEWITHHUMANSINHUMANENVIRONMENTSFIGURE17THESEROBOTSARECOMPELLINGNOTFORREASONSOFMOBILITYBUTBECAUSEOFTHEIRAUTONOMY,ANDSOTHEIRABILITYTOMAINTAINASENSEOFPOSITIONANDTONAVIGATEWITHOUTHUMANINTERVENTIONISPARAMOUNTFIGURE12THEMOBILEROBOTSOJOURNERWASUSEDDURINGTHEPATHFINDERMISSIONTOEXPLOREMARSINSUMMER1997ITWASALMOSTCOMPLETELYTELEOPERATEDFROMEARTHHOWEVER,SOMEONBOARDSENSORSALLOWEDFOROBSTACLEDETECTIONHTTP/RANIEROACTHQNASAGOV/TELEROBOTICS_PAGE/TELEROBOTICSSHTMNASA/JPLINTRODUCTION3FIGURE13PLUSTECHDEVELOPEDTHEFIRSTAPPLICATIONDRIVENWALKINGROBOTITISDESIGNEDTOMOVEWOODOUTOFTHEFORESTTHELEGCOORDINATIONISAUTOMATED,BUTNAVIGATIONISSTILLDONEBYTHEHUMANOPERATORONTHEROBOTHTTP/WWWPLUSTECHFIPLUSTECHFIGURE14AIRDUCTINSPECTIONROBOTFEATURINGAPANTILTCAMERAWITHZOOMANDSENSORSFORAUTOMATICINCLINATIONCONTROL,WALLFOLLOWING,ANDINTERSECTIONDETECTIONHTTP/ASLEPFLCHSEDIREP/EPFL4CHAPTER1FIGURE15PICTUREOFPIONEER,AROBOTDESIGNEDTOEXPLORETHESARCOPHAGUSATCHERNOBYLWIDEWORLDPHOTOSFIGURE16PICTUREOFRECOVERINGMBARISALTEXAUVAUTONOMOUSUNDERWATERVEHICLEONTOTHEICEBREAKERHEALYFOLLOWINGADIVEBENEATHTHEARCTICICETODDWALSH2001MBARIINTRODUCTION5FIGURE17TOURGUIDEROBOTSAREABLETOINTERACTANDPRESENTEXHIBITIONSINANEDUCATIONALWAY48,118,132,143,TENROBOXESHAVEOPERATEDDURING5MONTHSATTHESWISSEXHIBITIONEXPO02,MEETINGHUNDREDSOFTHOUSANDSOFVISITORSTHEYWEREDEVELOPEDBYEPFL132HTTP/ROBOTICSEPFLCHANDCOMMERCIALIZEDBYBLUEBOTICSHTTP/WWWBLUEBOTICSCHFIGURE18NEWESTGENERATIONOFTHEAUTONOMOUSGUIDEDVEHICLEAGVOFSWISSLOGUSEDTOTRANSPORTMOTORBLOCKSFROMONEASSEMBLYSTATIONTOANOTHERITISGUIDEDBYANELECTRICALWIREINSTALLEDINTHEFLOORTHEREARETHOUSANDSOFAGVSTRANSPORTINGPRODUCTSININDUSTRY,WAREHOUSES,ANDEVENHOSPITALSSWISSLOG6CHAPTER1BACKFIGURE19HELPMATEISAMOBILEROBOTUSEDINHOSPITALSFORTRANSPORTATIONTASKSITHASVARIOUSONBOARDSENSORSFORAUTONOMOUSNAVIGATIONINTHECORRIDORSTHEMAINSENSORFORLOCALIZATIONISACAMERALOOKINGTOTHECEILINGITCANDETECTTHELAMPSONTHECEILINGASREFERENCES,ORLANDMARKSHTTP/WWWPYXISCOMPYXISCORPFIGURE110BR700INDUSTRIALCLEANINGROBOTLEFTANDTHEROBOCLEANERRC3000CONSUMERROBOTDEVELOPEDANDSOLDBYALFREDKRCHERGMBHDYNAMICSANDCONTROLTHEORYTOCREATEROBUSTPERCEPTUALSYSTEMS,THEMOBILEROBOTICISTMUSTLEVERAGETHEFIELDSOFSIGNALANALYSISANDSPECIALIZEDBODIESOFKNOWLEDGESUCHASCOMPUTERVISIONTOPROPERLYINTRODUCTION9EMPLOYAMULTITUDEOFSENSORTECHNOLOGIESLOCALIZATIONANDNAVIGATIONDEMANDKNOWLEDGEOFCOMPUTERALGORITHMS,INFORMATIONTHEORY,ARTIFICIALINTELLIGENCE,ANDPROBABILITYTHEORYFIGURE115DEPICTSANABSTRACTCONTROLSCHEMEFORMOBILEROBOTSYSTEMSTHATWEWILLUSETHROUGHOUTTHISTEXTTHISFIGUREIDENTIFIESMANYOFTHEMAINBODIESOFKNOWLEDGEASSOCIATEDWITHMOBILEROBOTICSTHISBOOKPROVIDESANINTRODUCTIONTOALLASPECTSOFMOBILEROBOTICS,INCLUDINGSOFTWAREANDHARDWAREDESIGNCONSIDERATIONS,RELATEDTECHNOLOGIES,ANDALGORITHMICTECHNIQUESTHEINTENDEDAUDIENCEISBROAD,INCLUDINGBOTHUNDERGRADUATEANDGRADUATESTUDENTSININTRODUCTORYMOBILEROBOTICSCOURSES,ASWELLASINDIVIDUALSFASCINATEDBYTHEFIELDWHILENOTABSOLUTELYREQUIRED,AFAMILIARITYWITHMATRIXALGEBRA,CALCULUS,PROBABILITYTHEORY,ANDCOMPUTERPROGRAMMINGWILLSIGNIFICANTLYENHANCETHEREADERSEXPERIENCEMOBILEROBOTICSISALARGEFIELD,ANDTHISBOOKFOCUSESNOTONROBOTICSINGENERAL,NORONMOBILEROBOTAPPLICATIONS,BUTRATHERONMOBILITYITSELFFROMMECHANISMANDPERCEPTIONTOLOCALIZATIONANDNAVIGATION,THISBOOKFOCUSESONTHETECHNIQUESANDTECHNOLOGIESTHATENABLEROBUSTMOBILITYCLEARLY,AUSEFUL,COMMERCIALLYVIABLEMOBILEROBOTDOESMORETHANJUSTMOVEITPOLISHESTHESUPERMARKETFLOOR,KEEPSGUARDINAFACTORY,MOWSTHEGOLFCOURSE,PROVIDESTOURSINAMUSEUM,ORPROVIDESGUIDANCEINASUPERMARKETTHEASPIRINGMOBILEROBOTICISTWILLSTARTWITHTHISBOOK,BUTQUICKLYGRADUATETOCOURSEWORKANDRESEARCHSPECIFICTOTHEDESIREDAPPLICATION,INTEGRATINGTECHNIQUESFROMFIELDSASDISPARATEASHUMANROBOTINTERACTION,COMPUTERVISION,ANDSPEECHUNDERSTANDINGFIGURE114ALICEISONEOFTHESMALLESTFULLYAUTONOMOUSROBOTSITISAPPROXIMATELY2X2X2CM,ITHASANAUTONOMYOFABOUT8HOURSANDUSESINFRAREDDISTANCESENSORS,TACTILEWHISKERS,OREVENASMALLCAMERAFORNAVIGATION5410CHAPTER1INFORMATIONEXTRACTIONANDINTERPRETATIONSENSINGPATHEXECUTIONACTINGKNOWLEDGE,DATABASEMISSIONCOMMANDS“POSITION”GLOBALMAPENVIRONMENTMODELLOCALMAPPATHRAWDATAACTUATORCOMMANDSREALWORLDENVIRONMENTLOCALIZATIONMAPBUILDINGCOGNITIONPATHPLANINGFIGURE115REFERENCECONTROLSCHEMEFORMOBILEROBOTSYSTEMSUSEDTHROUGHOUTTHISBOOK12ANOVERVIEWOFTHEBOOKTHISBOOKINTRODUCESTHEDIFFERENTASPECTSOFAROBOTINMODULES,MUCHLIKETHEMODULESSHOWNINFIGURE115CHAPTERS2AND3FOCUSONTHEROBOTSLOWLEVELLOCOMOTIVEABILITYCHAPTER4PRESENTSANINDEPTHVIEWOFPERCEPTIONTHEN,CHAPTERS5AND6TAKEUSTOTHEHIGHERLEVELCHALLENGESOFLOCALIZATIONANDEVENHIGHERLEVELCOGNITION,SPECIFICALLYTHEABILITYTONAVIGATEROBUSTLYEACHCHAPTERBUILDSUPONPREVIOUSCHAPTERS,ANDSOTHEREADERISENCOURAGEDTOSTARTATTHEBEGINNING,EVENIFTHEIRINTERESTISPRIMARILYATTHEHIGHLEVELROBOTICSISPECULIARINTHATSOLUTIONSTOHIGHLEVELCHALLENGESAREMOSTMEANINGFULONLYINTHECONTEXTOFASOLIDUNDERSTANDINGOFTHELOWLEVELDETAILSOFTHESYSTEMCHAPTER2,“LOCOMOTION”,BEGINSWITHASURVEYOFTHEMOSTPOPULARMECHANISMSTHATENABLELOCOMOTIONWHEELSANDLEGSNUMEROUSROBOTICEXAMPLESDEMONSTRATETHEPARTICUPERCEPTIONMOTIONCONTROL12CHAPTER1LARTALENTSOFEACHFORMOFLOCOMOTIONBUTDESIGNINGAROBOTSLOCOMOTIVESYSTEMPROPERLYREQUIRESTHEABILITYTOEVALUATEITSOVERALLMOTIONCAPABILITIESQUANTITATIVELYCHAPTER3,“MOBILEROBOTKINEMATICS”,APPLIESPRINCIPLESOFKINEMATICSTOTHEWHOLEROBOT,BEGINNINGWITHTHEKINEMATICCONTRIBUTIONOFEACHWHEELANDGRADUATINGTOANANALYSISOFROBOTMANEUVERABILITYENABLEDBYEACHMOBILITYMECHANISMCONFIGURATIONTHEGREATESTSINGLESHORTCOMINGINCONVENTIONALMOBILEROBOTICSIS,WITHOUTDOUBT,PERCEPTIONMOBILEROBOTSCANTRAVELACROSSMUCHOFEARTHSMANMADESURFACES,BUTTHEYCANNOTPERCEIVETHEWORLDNEARLYASWELLASHUMANSANDOTHERANIMALSCHAPTER4,“PERCEPTION”,BEGINSADISCUSSIONOFTHISCHALLENGEBYPRESENTINGACLEARLANGUAGEFORDESCRIBINGTHEPERFORMANCEENVELOPEOFMOBILEROBOTSENSORSWITHTHISLANGUAGEINHAND,CHAPTER4GOESONTOPRESENTMANYOFTHEOFFTHESHELFSENSORSAVAILABLETOTHEMOBILEROBOTICIST,DESCRIBINGTHEIRBASICPRINCIPLESOFOPERATIONASWELLASTHEIRPERFORMANCELIMITATIONSTHEMOSTPROMISINGSENSORFORTHEFUTUREOFMOBILEROBOTICSISVISION,ANDCHAPTER4INCLUDESANOVERVIEWOFTHETHEORYOFOPERATIONANDTHELIMITATIONSOFBOTHCHARGEDCOUPLEDDEVICECCDANDCOMPLEMENTARYMETALOXIDESEMICONDUCTORCMOSSENSORSBUTPERCEPTIONISMORETHANSENSINGPERCEPTIONISALSOTHEINTERPRETATIONOFSENSEDDATAINMEANINGFULWAYSTHESECONDHALFOFCHAPTER4DESCRIBESSTRATEGIESFORFEATUREEXTRACTIONTHATHAVEBEENMOSTUSEFULINMOBILEROBOTICSAPPLICATIONS,INCLUDINGEXTRACTIONOFGEOMETRICSHAPESFROMRANGEBASEDSENSINGDATA,ASWELLASLANDMARKANDWHOLEIMAGEANALYSISUSINGVISIONBASEDSENSINGARMEDWITHLOCOMOTIONMECHANISMSANDOUTFITTEDWITHHARDWAREANDSOFTWAREFORPERCEPTION,THEMOBILEROBOTCANMOVEANDPERCEIVETHEWORLDTHEFIRSTPOINTATWHICHMOBILITYANDSENSINGMUSTMEETISLOCALIZATIONMOBILEROBOTSOFTENNEEDTOMAINTAINASENSEOFPOSITIONCHAPTER5,“MOBILEROBOTLOCALIZATION”,DESCRIBESAPPROACHESTHATOBVIATETHENEEDFORDIRECTLOCALIZATION,THENDELVESINTOFUNDAMENTALINGREDIENTSOFSUCCESSFULLOCALIZATIONSTRATEGIESBELIEFREPRESENTATIONANDMAPREPRESENTATIONCASESTUDIESDEMONSTRATEVARIOUSLOCALIZATIONSCHEMES,INCLUDINGBOTHMARKOVLOCALIZATIONANDKALMANFILTERLOCALIZATIONTHEFINALPARTOFCHAPTER5ISDEVOTEDTOADISCUSSIONOFTHECHALLENGESANDMOSTPROMISINGTECHNIQUESFORMOBILEROBOTSTOAUTONOMOUSLYMAPTHEIRSURROUNDINGSMOBILEROBOTICSISSOYOUNGADISCIPLINETHATITLACKSASTANDARDIZEDARCHITECTURETHEREISASYETNOESTABLISHEDROBOTOPERATINGSYSTEMBUTTHEQUESTIONOFARCHITECTUREISOFPARAMOUNTIMPORTANCEWHENONECHOOSESTOADDRESSTHEHIGHERLEVELCOMPETENCESOFAMOBILEROBOTHOWDOESAMOBILEROBOTNAVIGATEROBUSTLYFROMPLACETOPLACE,INTERPRETINGDATA,LOCALIZINGANDCONTROLLINGITSMOTIONALLTHEWHILEFORTHISH
- 温馨提示:
1: 本站所有资源如无特殊说明，都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
2: 本站的文档不包含任何第三方提供的附件图纸等，如果需要附件，请联系上传者。文件的所有权益归上传用户所有。
3.本站RAR压缩包中若带图纸，网页内容里面会有图纸预览，若没有图纸预览就没有图纸。
4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
5. 人人文库网仅提供信息存储空间，仅对用户上传内容的表现方式做保护处理，对用户上传分享的文档内容本身不做任何修改或编辑，并不能对任何下载内容负责。
6. 下载文件中如有侵权或不适当内容，请与我们联系，我们立即纠正。
7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。
人人文库网所有资源均是用户自行上传分享，仅供网友学习交流，未经上传用户书面授权，请勿作他用。
川公网安备: 51019002004831号