Designing Autonomous Mobile Robots Inside the Mind of an Intelligent Machine

ISBN-10: 0750676833
ISBN-13: 9780750676830
Edition: 2003
Authors: John M. Holland
List price: $83.95
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Description: 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...

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Book details

List price: $83.95
Copyright year: 2003
Publisher: Elsevier Science & Technology Books
Publication date: 12/15/2003
Binding: Paperback
Pages: 352
Size: 7.50" wide x 9.25" long x 0.75" tall
Weight: 1.650
Language: English

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. The accompanying CD-ROM provides software routines for the examples cited as well as an electronic version of the text.

Foreword
What's on the CD-ROM?
Background Software and Concepts
Measure Twice, Cut Once
Determinism
Rule-based systems, state-driven systems, and other potential tar pits
Defining an open architecture
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
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
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
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
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
Basic Navigation
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
Live Reckoning
Understanding why good dead reckoning is crucial
Picking coordinate systems
Tick calculations
Live reckoning interaction with other processes
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
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
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
Sensors, Navigation Agents and Arbitration
Sensor types
Guidelines for selecting and deploying navigation and collision avoidance sensors
Navigation agents
Agent properties and methods
Arbitration and competition among agents
Who to believe
Changing one's mind
Summary
Instilling Pain, Fear and Confidence
Pain and annoyance
Virtual pain
Avoiding pain and humiliation
The purpose of virtual confidence
Calculating virtual confidence
Summary
Becoming Unstuck in Time
Getting past sequential thinking
Thinking of a mobile robot as multiple robot time-places
Managing the time dimension
Programming Robots to Be Useful
Preprogramming vs. teaching paths
Embedding data into maps
Map interpreters
Events and targets
Text-based programming
Graphical generation of text programs
Conclusions
Command, Control, and Monitoring
Unmanaged and self-managed systems
Ping-pong job management
Dispatched job management
Exceptions
Exception decision making
Expert assistance
Status monitoring
Taking control
Some GUI rules
Robustness and context preservation
Conclusions
The Law of Conservation of Defects and the Art of Debugging
The law of conservation of defects
The art of debugging
Types of bugs
Summary
"What the Hell Happened?"
Logging
Data mining using relational techniques
Incident reporting
Summary
The Industry, Its Past and Its Future
The history of robotics
The mobile robotics industry
Industry segmentation for autonomous mobile robots
The government sector
Why aren't the robots here yet?
The future
Referenced Laws and Formulas
Law of Sines and Law of Cosines
Simple 2D Vector Addition
Linear Regression
About the Author
Index

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