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Introduction to autonomous mobile robots [electronic resource].
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| 자료유형 | E-Book |
|---|---|
| 개인저자 | Siegwart, Roland. Nourbakhsh, Illah Reza, 1970- Scaramuzza, Davide. |
| 서명/저자사항 | Introduction to autonomous mobile robots[electronic resource]. |
| 판사항 | 2nd ed. /Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza. |
| 발행사항 | Cambridge, Mass. : MIT Press, c2011. |
| 형태사항 | 1 online resource (xvi, 453 p.) : ill. |
| 총서사항 | Intelligent robotics and autonomous agents |
| ISBN | 9780262295321 (electronic bk.) 0262295326 (electronic bk.) |
| 서지주기 | Includes bibliographical references and index. |
| 내용주기 | Machine generated contents note:1.Introduction --1.1.Introduction --1.2.An Overview of the Book --2.Locomotion --2.1.Introduction --2.1.1.Key issues for locomotion --2.2.Legged Mobile Robots --2.2.1.Leg configurations and stability --2.2.2.Consideration of dynamics --2.2.3.Examples of legged robot locomotion --2.3.Wheeled Mobile Robots --2.3.1.Wheeled locomotion: The design space --2.3.2.Wheeled locomotion: Case studies --2.4.Aerial Mobile Robots --2.4.1.Introduction --2.4.2.Aircraft configurations --2.4.3.State of the art in autonomous VTOL --2.5.Problems --3.Mobile Robot Kinematics --3.1.Introduction --3.2.Kinematic Models and Constraints --3.2.1.Representing robot position --3.2.2.Forward kinematic models --3.2.3.Wheel kinematic constraints --3.2.4.Robot kinematic constraints --3.2.5.Examples: Robot kinematic models and constraints 3.3.Mobile Robot Maneuverability --3.3.1.Degree of mobility --3.3.2.Degree of steerability --3.3.3.Robot maneuverability --3.4.Mobile Robot Workspace --3.4.1.Degrees of freedom --3.4.2.Holonomic robots --3.4.3.Path and trajectory considerations --3.5.Beyond Basic Kinematics --3.6.Motion Control (Kinematic Control) --3.6.1.Open loop control (trajectory-following) --3.6.2.Feedback control --3.7.Problems --4.Perception --4.1.Sensors for Mobile Robots --4.1.1.Sensor classification --4.1.2.Characterizing sensor performance --4.1.3.Representing uncertainty --4.1.4.Wheel/motor sensors --4.1.5.Heading sensors --4.1.6.Accelerometers --4.1.7.Inertial measurement unit (IMU) --4.1.8.Ground beacons --4.1.9.Active ranging --4.1.10.Motion/speed sensors --4.1.11.Vision sensors --4.2.Fundamentals of Computer Vision --4.2.1.Introduction --4.2.2.The digital camera --4.2.3.Image formation --4.2.4.Omnidirectional cameras 4.2.5.Structure from stereo --4.2.6.Structure from motion --4.2.7.Motion and optical flow --4.2.8.Color tracking --4.3.Fundamentals of Image Processing --4.3.1.Image filtering --4.3.2.Edge detection --4.3.3.Computing image similarity --4.4.Feature Extraction --4.5.Image Feature Extraction: Interest Point Detectors --4.5.1.Introduction --4.5.2.Properties of the ideal feature detector --4.5.3.Corner detectors --4.5.4.Invariance to photometric and geometric changes --4.5.5.Blob detectors --4.6.Place Recognition --4.6.1.Introduction --4.6.2.From bag of features to visual words --4.6.3.Efficient location recognition by using an inverted file --4.6.4.Geometric verification for robust place recognition --4.6.5.Applications --4.6.6.Other image representations for place recognition --4.7.Feature Extraction Based on Range Data (Laser, Ultrasonic) --4.7.1.Line fitting --4.7.2.Six line-extraction algorithms 4.7.3.Range histogram features --4.7.4.Extracting other geometric features --4.8.Problems --5.Mobile Robot Localization --5.1.Introduction --5.2.The Challenge of Localization: Noise and Aliasing --5.2.1.Sensor noise --5.2.2.Sensor aliasing --5.2.3.Effector noise --5.2.4.An error model for odometric position estimation --5.3.To Localize or Not to Localize: Localization-Based Navigation Versus Programmed Solutions --5.4.Belief Representation --5.4.1.Single-hypothesis belief --5.4.2.Multiple-hypothesis belief --5.5.Map Representation --5.5.1.Continuous representations --5.5.2.Decomposition strategies --5.5.3.State of the art: Current challenges in map representation --5.6.Probabilistic Map-Based Localization --5.6.1.Introduction --5.6.2.The robot localization problem --5.6.3.Basic concepts of probability theory --5.6.4.Terminology --5.6.5.The ingredients of probabilistic map-based localization 5.6.6.Classification of localization problems --5.6.7.Markov localization --5.6.8.Kalman filter localization --5.7.Other Examples of Localization Systems --5.7.1.Landmark-based navigation --5.7.2.Globally unique localization --5.7.3.Positioning beacon systems --5.7.4.Route-based localization --5.8.Autonomous Map Building --5.8.1.Introduction --5.8.2.SLAM: The simultaneous localization and mapping problem --5.8.3.Mathematical definition of SLAM --5.8.4.Extended Kalman Filter (EKF) SLAM --5.8.5.Visual SLAM with a single camera --5.8.6.Discussion on EKF SLAM --5.8.7.Graph-based SLAM --5.8.8.Particle filter SLAM --5.8.9.Open challenges in SLAM --5.8.10.Open source SLAM software and other resources --5.9.Problems --6.Planning and Navigation --6.1.Introduction --6.2.Competences for Navigation: Planning and Reacting --6.3.Path Planning --6.3.1.Graph search --6.3.2.Potential field path planning 6.4.Obstacle avoidance --6.4.1.Bug algorithm --6.4.2.Vector field histogram --6.4.3.The bubble band technique --6.4.4.Curvature velocity techniques --6.4.5.Dynamic window approaches --6.4.6.The Schlegel approach to obstacle avoidance --6.4.7.Nearness diagram --6.4.8.Gradient method --6.4.9.Adding dynamic constraints --6.4.10.Other approaches --6.4.11.Overview --6.5.Navigation Architectures --6.5.1.Modularity for code reuse and sharing --6.5.2.Control localization --6.5.3.Techniques for decomposition --6.5.4.Case studies: tiered robot architectures --6.6.Problems --Bibliography --Books --Papers --Referenced Webpages. |
| 요약 | 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.--publisher description. |
| 일반주제명 | Mobile robots. Autonomous robots. TECHNOLOGY & ENGINEERING / Automation. |
| 언어 | 영어 |
| 기타형태 저록 | Print version:Siegwart, Roland.Introduction to autonomous mobile robots.Cambridge, Mass. : MIT Press, c20119780262015356 |
| 대출바로가기 | http://search.ebscohost.com/login.aspx?direct=true&scope=site&db=nlebk&db=nlabk&AN=550661 |
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|---|---|---|---|---|---|---|---|---|
| 1 | WE00002199 | 629.8932 | 가야대학교/전자책서버(컴퓨터서버)/ | 대출가능 |
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