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Designing mobile autonomous robots /

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, an...

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Bibliographic Details
Main Author: Holland, John M.
Format: Electronic eBook
Language:English
Published: Amsterdam ; London : Elsevier, ©2004.
Subjects:
Mobile robots.
Autonomous robots.
Online Access: Full text (MFA users only)
ISBN:0080477186
9780080477183
1281052035
9781281052032
9786611052034
6611052038
9780750676830
0750676833
Local Note:ProQuest Ebook Central
Table of Contents:
  • Cover
  • Contents
  • Foreword
  • SECTION 1
  • Background Software and Concepts
  • Chapter 1: Measure Twice, Cut Once
  • Determinism
  • Rule-based systems, state-driven systems, and other potential tar pits
  • Defining an open architecture
  • Chapter 2: A Brief History of Software Concepts
  • Assembly language
  • Early conventional languages
  • Compilers vs. interpreters
  • The GUI revolution
  • The great rift
  • Object-oriented programming
  • Robots and robot subsystems as objects
  • Network languages
  • Chapter 3: The Basics of Real-time Software (For Mere Mortals)
  • Threads
  • Interrupts and stacks
  • Context
  • Kernels and tasks
  • Task switching
  • Interrupt events
  • Time slicing
  • Reentrance
  • Interrupt masking and interrupt priority
  • Inter-task communications
  • Visual Basic and real-time controls
  • VB events
  • DoEvents
  • Freddy as a VB form
  • Modal controls
  • Some other tips on using VB for real-time applications
  • Setting up a structure
  • Creating a library
  • Chapter 4: Thinking More Clearly Through Fuzzy Logic
  • Trapezoidal fuzzy logic
  • Fuzzy democracy
  • Adaptive fuzzy logic
  • Weighting trapezoids in response to other parameters
  • Multipass and fratricidal fuzzy logic
  • Summary
  • Chapter 5: Closed Loop Controls, Rabbits and Hounds
  • Basic PID controls
  • Predictive controls
  • Combined reactive and predictive controls
  • Various PID enhancements
  • Robot drive controls
  • Tuning controls
  • Rabbits chasing rabbits
  • Conclusions
  • Chapter 6: Communications and Control
  • Popular networks
  • Rigid protocols and other really bad ideas
  • Flexible protocols
  • Communications architectures
  • Wrappers, layers, and shells
  • Drivers, OCXs and DLLs
  • Improving communications efficiency
  • Timing issues and error handling
  • Other issues
  • SECTION 2
  • Basic Navigation
  • Chapter 7: Basic Navigation Philosophies
  • The academic school of thought
  • The industrial school of thought
  • Area coverage robots
  • Virtual path following vs. goal seeking
  • A practical starting point and "a priori" knowledge
  • Chapter 8: Live Reckoning
  • Understanding why good dead reckoning is crucial
  • Picking coordinate systems
  • Tick calculations
  • Live reckoning interaction with other processes
  • Chapter 9: The Best Laid Plans of Mice and Machines
  • Path planning and execution
  • Are we there yet?
  • Running on
  • Bread crumbs and irregular path following
  • The Z axis, maps, and wormholes
  • Summary
  • Chapter 10: Navigation as a Filtering Process
  • Filtering for the truth
  • The importance of uncertainty
  • Modeling uncertainty
  • Reducing uncertainty
  • Learning to be accurately uncertain
  • Uses of uncertainty
  • Chapter 11: Hard Navigation vs. Fuzzy Navigation
  • Sensor data and maps
  • Navigation features
  • Hard navigation
  • The concept of fuzzy navigation
  • Other profiles
  • The referenced state
  • Reducing uncertainty
  • Chapter 12: Sensors, Navigation Agents and Arbitration
  • T$10520.

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