Where Am I Sensors And Methods For Autonomous Mobile Robot Positioning

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Autonomous Mobile Robots

Frank L. Lewis,Shuzhi Sam Ge
Autonomous Mobile Robots Book PDF

Author : Frank L. Lewis,Shuzhi Sam Ge
Publisher : CRC Press
Page : 736 pages
File Size : 52,5 Mb
Release : 2018-10-03
Category : Technology & Engineering
ISBN : 9781420019445

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Autonomous Mobile Robots by Frank L. Lewis,Shuzhi Sam Ge Pdf

It has long been the goal of engineers to develop tools that enhance our ability to do work, increase our quality of life, or perform tasks that are either beyond our ability, too hazardous, or too tedious to be left to human efforts. Autonomous mobile robots are the culmination of decades of research and development, and their potential is seemingly unlimited. Roadmap to the Future Serving as the first comprehensive reference on this interdisciplinary technology, Autonomous Mobile Robots: Sensing, Control, Decision Making, and Applications authoritatively addresses the theoretical, technical, and practical aspects of the field. The book examines in detail the key components that form an autonomous mobile robot, from sensors and sensor fusion to modeling and control, map building and path planning, and decision making and autonomy, and to the final integration of these components for diversified applications. Trusted Guidance A duo of accomplished experts leads a team of renowned international researchers and professionals who provide detailed technical reviews and the latest solutions to a variety of important problems. They share hard-won insight into the practical implementation and integration issues involved in developing autonomous and open robotic systems, along with in-depth examples, current and future applications, and extensive illustrations. For anyone involved in researching, designing, or deploying autonomous robotic systems, Autonomous Mobile Robots is the perfect resource.

Navigating Mobile Robots

Johann Borenstein,H. R. Everett,Liqiang Feng
Navigating Mobile Robots Book PDF

Author : Johann Borenstein,H. R. Everett,Liqiang Feng
Publisher : A K PETERS
Page : 244 pages
File Size : 43,6 Mb
Release : 1996
Category : Technology & Engineering
ISBN : UOM:49015002375369

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Navigating Mobile Robots by Johann Borenstein,H. R. Everett,Liqiang Feng Pdf

Sensors for mobile robot positioning. Systems and menthods for mobile robot positioning.

Autonomous Mobile Robots and Multi-Robot Systems

Eugene Kagan,Nir Shvalb,Irad Ben-Gal
Autonomous Mobile Robots and Multi Robot Systems Book PDF

Author : Eugene Kagan,Nir Shvalb,Irad Ben-Gal
Publisher : John Wiley & Sons
Page : 340 pages
File Size : 40,9 Mb
Release : 2019-12-16
Category : Technology & Engineering
ISBN : 9781119212867

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Autonomous Mobile Robots and Multi-Robot Systems by Eugene Kagan,Nir Shvalb,Irad Ben-Gal Pdf

Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

Mobile Robots

Gerald Cook,Feitian Zhang
Mobile Robots Book PDF

Author : Gerald Cook,Feitian Zhang
Publisher : John Wiley & Sons
Page : 353 pages
File Size : 53,6 Mb
Release : 2020-01-09
Category : Technology & Engineering
ISBN : 9781119534785

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Mobile Robots by Gerald Cook,Feitian Zhang Pdf

Presents the normal kinematic and dynamic equations for robots, including mobile robots, with coordinate transformations and various control strategies This fully updated edition examines the use of mobile robots for sensing objects of interest, and focus primarily on control, navigation, and remote sensing. It also includes an entirely new section on modeling and control of autonomous underwater vehicles (AUVs), which exhibits unique complex three-dimensional dynamics. Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs, Second Edition starts with a chapter on kinematic models for mobile robots. It then offers a detailed chapter on robot control, examining several different configurations of mobile robots. Following sections look at robot attitude and navigation. The application of Kalman Filtering is covered. Readers are also provided with a section on remote sensing and sensors. Other chapters discuss: target tracking, including multiple targets with multiple sensors; obstacle mapping and its application to robot navigation; operating a robotic manipulator; and remote sensing via UAVs. The last two sections deal with the dynamics modeling of AUVs and control of AUVs. In addition, this text: Includes two new chapters dealing with control of underwater vehicles Covers control schemes including linearization and use of linear control design methods, Lyapunov stability theory, and more Addresses the problem of ground registration of detected objects of interest given their pixel coordinates in the sensor frame Analyzes geo-registration errors as a function of sensor precision and sensor pointing uncertainty Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs is intended for use as a textbook for a graduate course of the same title and can also serve as a reference book for practicing engineers working in related areas.

Designing Autonomous Mobile Robots

John M. Holland
Designing Autonomous Mobile Robots Book PDF

Author : John M. Holland
Publisher : Elsevier
Page : 352 pages
File Size : 49,6 Mb
Release : 2004-01-24
Category : Computers
ISBN : 0080477186

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Designing Autonomous Mobile Robots by John M. Holland Pdf

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. Authored by a well-known pioneer of mobile robotics Learn how to approach the design of and complex control system with confidence

Mobile Robot Localization and Map Building

Jose A. Castellanos,Juan D. Tardós
Mobile Robot Localization and Map Building Book PDF

Author : Jose A. Castellanos,Juan D. Tardós
Publisher : Springer Science & Business Media
Page : 212 pages
File Size : 55,5 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781461544050

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Mobile Robot Localization and Map Building by Jose A. Castellanos,Juan D. Tardós Pdf

During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial intelligence to perform some of the most hazardous, risky or monotonous tasks historically assigned to human beings. Among those machines, mobile robots are undoubtedly at the cutting edge of current research directions. A rough classification of mobile robots can be considered: on the one hand, mobile robots oriented to human-made indoor environments; on the other hand, mobile robots oriented to unstructured outdoor environments, which could include flying oriented robots, space-oriented robots and underwater robots. The most common motion mechanism for surface mobile robots is the wheel-based mechanism, adapted both to flat surfaces, found in human-made environments, and to rough terrain, found in outdoor environments. However, some researchers have reported successful developments with leg-based mobile robots capable of climbing up stairs, although they require further investigation. The research work presented here focuses on wheel-based mobile robots that navigate in human-made indoor environments. The main problems described throughout this book are: Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element. A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space. The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach. The book emphasizes the generality of the solutions proposed to the different problems and their independence with respect to the exteroceptive sensors mounted on the mobile robot. Theoretical results are complemented by real experiments, where the use of multisensor-based approaches is highlighted.

Sensor Modelling, Design and Data Processing for Autonomous Navigation

Martin David Adams
Sensor Modelling Design and Data Processing for Autonomous Navigation Book PDF

Author : Martin David Adams
Publisher : World Scientific
Page : 256 pages
File Size : 52,8 Mb
Release : 1999-02-04
Category : Technology & Engineering
ISBN : 9789814496070

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Sensor Modelling, Design and Data Processing for Autonomous Navigation by Martin David Adams Pdf

This invaluable book presents an unbiased framework for modelling and using sensors to aid mobile robot navigation. It addresses the problem of accurate and reliable sensing in confined environments and makes a detailed analysis of the design and construction of a low cost optical range finder. This is followed by a quantitative model for determining the sources and propagation of noise within the sensor. The physics behind the causes of erroneous data is also used to derive a model for detecting and labelling such data as false. In addition, the author's data-processing algorithms are applied to the problem of environmental feature extraction. This forms the basis of a solution to the problem of mobile robot localisation. The book develops a relationship between the kinematics of a mobile robot during the execution of successive manoeuvres, and the sensed features. Results which update a mobile vehicle's position using features from 2D and 3D scans are presented. Contents:Sensor Design and Modelling:Range Sensing in Confined EnvironmentsLidar Sensor Design — Electronic RequirementsLidar Sensor Design — Mechanical and Optical RequirementsQuantitative Sensor Modelling — Noise AnalysisQualitative Sensor Modelling — False DataMobile Robot Navigation Oriented Signal Processing:Environmental Feature ExtractionSensor Driven Mobile Robot LocalisationApplication: Mobile Robot Path PlanningConclusions and Future Research Directives Readership: Practitioners and researchers in robotics and artificial intelligence. Keywords:Autonomous Navigation;Mobile Robotics;LIDAR;LADAR;Sensor Modelling;Feature Detection;Multiple Path Effects;Robot Localisation;Feature Matching

Introduction to Autonomous Mobile Robots, second edition

Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza
Introduction to Autonomous Mobile Robots second edition Book PDF

Author : Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza
Publisher : MIT Press
Page : 473 pages
File Size : 42,8 Mb
Release : 2011-02-18
Category : Computers
ISBN : 9780262295093

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Introduction to Autonomous Mobile Robots, second edition by Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza Pdf

The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of 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 synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Autonomous Land Vehicles

Karsten Berns,Ewald Puttkamer
Autonomous Land Vehicles Book PDF

Author : Karsten Berns,Ewald Puttkamer
Publisher : Springer Science & Business Media
Page : 283 pages
File Size : 55,5 Mb
Release : 2010-02-23
Category : Technology & Engineering
ISBN : 9783834893345

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Autonomous Land Vehicles by Karsten Berns,Ewald Puttkamer Pdf

The economic potential of autonomous mobile robots will increase tremendously during the next years. Service robots such as cleaning machines and inspection or assistance robots will bring us great support in our daily lives. This textbook provides an introduction to the methods of controlling these robotic systems. Starting from mobile robot kinematics, the reader receives a systematic overview of the basic problems as well as methods and algorithms used for solving them. Localisation, object recognition, map building, navigation and control architectures for autonomous vehicles will be discussed in detail. In conclusion, a survey of specific service robot applications is included as well. This book is a very useful introduction to mobile robotics for beginners as well as advanced students and engineers.

Introduction to Mobile Robot Control

Spyros G Tzafestas
Introduction to Mobile Robot Control Book PDF

Author : Spyros G Tzafestas
Publisher : Elsevier
Page : 750 pages
File Size : 55,8 Mb
Release : 2013-10-03
Category : Technology & Engineering
ISBN : 9780124171039

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Introduction to Mobile Robot Control by Spyros G Tzafestas Pdf

Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background

Active Sensors for Local Planning in Mobile Robotics

Penelope Probert Smith
Active Sensors for Local Planning in Mobile Robotics Book PDF

Author : Penelope Probert Smith
Publisher : World Scientific
Page : 337 pages
File Size : 44,5 Mb
Release : 2001
Category : Technology & Engineering
ISBN : 9789812811141

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Active Sensors for Local Planning in Mobile Robotics by Penelope Probert Smith Pdf

This book describes recent work on active sensors for mobile robots. An active sensor interacts with its surroundings to supply data on demand for a particular function, gathering and abstracting information according to need rather than acting as a generic data gatherer. Details of the physical operation are hidden. The book deals mainly with active range sensors, which provide rapid information for local planning, describing extraction of two-dimensional features such as lines, corners and cylinders to reconstruct a plan of a building. It is structured according to the physical principles of the sensors, since to a large extent these determine the function of the sensors and the methods of processing. Recent work using sonar, optoelectronic sensors and radar is described. Sections on vision and on sensor management develop the idea of software adaptation for efficient operation in a changing environment. Contents: The Mapping and Localisation Problem; Perception at Millimetre Wavelengths; Advanced Sonar: Principles of Operation and Interpretation; Smooth and Rough Target Modelling: Examples in Mapping and Texture Classification; Sonar Systems: A Biological Perspective; Map Building from Range Data Using Mathematical Morphology; Millimetre Wave Radar for Robotics; Optoelectronic Range Sensors; AMCW LIDAR Range Acquisition; Extracting Lines and Curves from Optoelectronic Range Data; Active Vision for Mobile Robot Navigation; Strategies for Active Sensor Management. Readership: Graduate students and final year undergraduate students in electrical and electronic engineering, systems and knowledge, robotics, image processing and artificial intelligence.

Mobile Robotics

Alonzo Kelly
Mobile Robotics Book PDF

Author : Alonzo Kelly
Publisher : Cambridge University Press
Page : 717 pages
File Size : 54,8 Mb
Release : 2013-11-11
Category : Computers
ISBN : 9781107434547

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Mobile Robotics by Alonzo Kelly Pdf

Mobile Robotics offers comprehensive coverage of the essentials of the field suitable for both students and practitioners. Adapted from Alonzo Kelly's graduate and undergraduate courses, the content of the book reflects current approaches to developing effective mobile robots. Professor Kelly adapts principles and techniques from the fields of mathematics, physics and numerical methods to present a consistent framework in a notation that facilitates learning and highlights relationships between topics. This text was developed specifically to be accessible to senior level undergraduates in engineering and computer science, and includes supporting exercises to reinforce the lessons of each section. Practitioners will value Kelly's perspectives on practical applications of these principles. Complex subjects are reduced to implementable algorithms extracted from real systems wherever possible, to enhance the real-world relevance of the text.

Mobile Robot Navigation with Intelligent Infrared Image Interpretation

William L. Fehlman,Mark K. Hinders
Mobile Robot Navigation with Intelligent Infrared Image Interpretation Book PDF

Author : William L. Fehlman,Mark K. Hinders
Publisher : Springer Science & Business Media
Page : 297 pages
File Size : 42,6 Mb
Release : 2009-06-13
Category : Technology & Engineering
ISBN : 9781848825093

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Mobile Robot Navigation with Intelligent Infrared Image Interpretation by William L. Fehlman,Mark K. Hinders Pdf

Mobile robots require the ability to make decisions such as "go through the hedges" or "go around the brick wall." Mobile Robot Navigation with Intelligent Infrared Image Interpretation describes in detail an alternative to GPS navigation: a physics-based adaptive Bayesian pattern classification model that uses a passive thermal infrared imaging system to automatically characterize non-heat generating objects in unstructured outdoor environments for mobile robots. The resulting classification model complements an autonomous robot’s situational awareness by providing the ability to classify smaller structures commonly found in the immediate operational environment.

Mobile Robots Navigation

Luis Payá,Reinoso Garcia
Mobile Robots Navigation Book PDF

Author : Luis Payá,Reinoso Garcia
Publisher : MDPI
Page : 298 pages
File Size : 44,6 Mb
Release : 2020-11-13
Category : Technology & Engineering
ISBN : 9783039286706

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Mobile Robots Navigation by Luis Payá,Reinoso Garcia Pdf

The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.

Autonomous Mobile Robots in Unknown Outdoor Environments

Xiaorui Zhu,Youngshik Kim,Mark A. Minor,Chunxin Qiu
Autonomous Mobile Robots in Unknown Outdoor Environments Book PDF

Author : Xiaorui Zhu,Youngshik Kim,Mark A. Minor,Chunxin Qiu
Publisher : CRC Press
Page : 255 pages
File Size : 47,5 Mb
Release : 2017-12-15
Category : Technology & Engineering
ISBN : 9781498740562

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Autonomous Mobile Robots in Unknown Outdoor Environments by Xiaorui Zhu,Youngshik Kim,Mark A. Minor,Chunxin Qiu Pdf

Mobile robots have been increasingly applied in many different scenarios, such as space exploration and search and rescue, where the robots are required to travel over uneven terrain while outdoors. This book provides a new framework and the related algorithms for designing autonomous mobile robotic systems in such unknown outdoor environments.