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Embedded Robotics Mobile Robot Design and Applications with Embedded Systems

ISBN-10: 3540705333
ISBN-13: 9783540705338
Edition: 3rd 2008
List price: $79.95 Buy it from $72.18
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Description: This text presents a combination of mobile robots and embedded systems, from introductory to intermediate level. It deals with embedded systems (hardware and software design, actuators, sensors, PID control, multitasking), mobile robot design  More...

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Book details

List price: $79.95
Edition: 3rd
Copyright year: 2008
Publisher: Springer
Publication date: 9/10/2008
Binding: Paperback
Pages: 546
Size: 6.75" wide x 9.75" long x 1.00" tall
Weight: 2.442

This text presents a combination of mobile robots and embedded systems, from introductory to intermediate level. It deals with embedded systems (hardware and software design, actuators, sensors, PID control, multitasking), mobile robot design (driving, balancing, walking, and flying robots), and mobile robot applications.

Embedded Systems
Robots and Controllers
Mobile Robots
Embedded Controllers
Interfaces
Operating System
References
Central Processing Unit
Logic Gates
Function Units
Registers and Memory
Retro
Arithmetic Logic Unit
Control Unit
Central Processing Unit
References
Sensors
Sensor Categories
Binary Sensor
Analog versus Digital Sensors
Shaft Encoder
A/D Converter
Position Sensitive Device
Compass
Gyroscope, Accelerometer, Inclinometer
Digital Camera
References
Actuators
DC Motors
H-Bridge
Pulse Width Modulation
Stepper Motors
Servos
References
Control
On-Off Control
PID Control
Velocity Control and Position Control
Multiple Motors - Driving Straight
V-Omega Interface
References
Multitasking
Cooperative Multitasking
Preemptive Multitasking
Synchronization
Scheduling
Interrupts and Timer-Activated Tasks
References
Wireless Communication
Communication Model
Messages
Fault-Tolerant Self-Configuration
User Interface and Remote Control
Sample Application Program
References
Mobile Robot Design
Driving Robots
Single Wheel Drive
Differential Drive
Tracked Robots
Synchro-Drive
Ackermann Steering
Drive Kinematics
References
Omni-Directional Robots
Mecanum Wheels
Omni-Directional Drive
Kinematics
Omni-Directional Robot Design
Driving Program
References
Balancing Robots
Simulation
Inverted Pendulum Robot
Double Inverted Pendulum
References
Walking Robots
Six-Legged Robot Design
Biped Robot Design
Sensors for Walking Robots
Static Balance
Dynamic Balance
References
Autonomous Planes
Application
Control System and Sensors
Flight Program
References
Autonomous Vessels and Underwater Vehicles
Application
Dynamic Model
AUV Design Mako
AUV Design USAL
References
Robot Manipulators
Homogeneous Coordinates
Kinematics
Simulation and Programming
References
Simulation Systems
Mobile Robot Simulation
EyeSim Simulation System
Multiple Robot Simulation
EyeSim Application
EyeSim Environment and Parameter Files
SubSim Simulation System
Actuator and Sensor Models
SubSim Application
SubSim Environment and Parameter Files
References
Mobile Robot Applications
Localization and Navigation
Localization
Probabilistic Localization
Coordinate Systems
Environment Representation
Visibility Graph
Voronoi Diagram
Potential Field Method
Wandering Standpoint Algorithm
Bug Algorithm Family
Dijkstra's Algorithm
A* Algorithm
References
Maze Exploration
Micro Mouse Contest
Maze Exploration Algorithms
Simulated versus Real Maze Program
References
Map Generation
Mapping Algorithm
Data Representation
Boundary-Following Algorithm
Algorithm Execution
Simulation Experiments
Robot Experiments
Results
References
Real-Time Image Processing
Camera Interface
Auto-Brightness
Edge Detection
Motion Detection
Color Space
Color Object Detection
Image Segmentation
Image Coordinates versus World Coordinates
References
Robot Soccer
RoboCup and FIRA Competitions
Team Structure
Mechanics and Actuators
Sensing
Image Processing
Trajectory Planning
References
Neural Networks
Neural Network Principles
Feed-Forward Networks
Backpropagation
Neural Network Examples
Neural Controller
References
Genetic Algorithms
Genetic Algorithm Principles
Genetic Operators
Applications to Robot Control
Example Evolution
Implementation of Genetic Algorithms
Starman
References
Genetic Programming
Concepts and Applications
Lisp
Genetic Operators
Evolution
Tracking Problem
Evolution of Tracking Behavior
References
Behavior-Based Systems
Software Architecture
Behavior-Based Robotics
Behavior-Based Applications
Behavior Framework
Adaptive Controller
Tracking Problem
Neural Network Controller
Experiments
References
Evolution of Walking Gaits
Splines
Control Algorithm
Incorporating Feedback
Controller Evolution
Controller Assessment
Evolved Gaits
References
Automotive Systems
Autonomous Automobiles
Automobile Conversion for Autonomous Driving
Computer Vision for Driver-Assistance Systems
Image Processing Framework
Lane Detection
Vehicle Recognition and Tracking
Automatic Parking
References
Outlook
Appendices
Programming Tools
RoBIOS Operating System
Hardware Description Table
Hardware Specification
Laboratories
Solutions
Index

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