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Introducción a autonomous mobiles robots

Autor(a): Roland Siegwart - Illah R. Nourbakhsh
Editorial: Massachusetts Institute of Technology
Idioma: Ingles
Nº de páginas: 337 págs.
Año edición: 2004
Formato: PDF
Comprimido: rar


  • Locomotion.
  • Legged Mobile Robots.
  • Wheeled Mobile Robots.
  • Mobile Robot Kinematics.
  • Kinematic Models and Constraints.
  • Mobile Robot Maneuverability.
  • Mobile Robot Workspace.
  • Beyond Basic Kinematics.
  • Motion Control (Kinematic Control).
  • Perception.
  • Sensors for Mobile Robots.
  • Representing Uncertainty.
  • Feature Extraction.
  • Mobile Robot Localization.
  • The Challenge of Localization: Noise and Aliasing.
  • To Localize or Not to Localize: Localization-Based Navigation versus Programmed Solutions.
  • Belief Representation.
  • Map Representation.
  • Probabilistic Map-Based Localization.
  • Other Examples of Localization Systems.
  • Autonomous Map Building.
  • Planning and Navigation.
  • Competences for Navigation: Planning and Reacting.
  • Navigation Architectures.
  • ...

Resumen del libro

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.

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