Autonomous Land Vehicles Steps towards Service Robots
The economic potential of autonomous mobile robots will increase tremendously during the next years. Service robots such as cleaning machines and inspection or assistance robots will bring us great support in our daily lives. This textbook provides an int
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Karsten Berns | Ewald von Puttkamer
Autonomous Land Vehicles Steps towards Service Robots
With 246 Illustrations, 4 Tables and 16 Algorithms
Bibliographic information published by the Deutsche Nationalbibliothek The Deutsche Nationalbibliothek lists this publication in the Deutsche Nationalbibliografie; detailed bibliographic data are available in the Internet at http://dnb.d-nb.de.
1st Edition 2009 All rights reserved © Vieweg +Teubner | GWV Fachverlage GmbH, Wiesbaden 2009 Editorial Office: Sybille Thelen | Maren Mithöfer Vieweg+Teubner is part of the specialist publishing group Springer Science+Business Media. www.viewegteubner.de No part of this publication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of the copyright holder. Registered and/or industrial names, trade names, trade descriptions etc. cited in this publication are part of the law for trade-mark protection and may not be used free in any form or by any means even if this is not specifically marked. Cover design: KünkelLopka Medienentwicklung, Heidelberg Printing company: Krips b.v., Meppel Printed on acid-free paper Printed in the Netherlands ISBN 978-3-8348-0421-1
Preface This textbook results from a series of lectures concerning autonomous mobile robots which have been held at the University of Kaiserslautern between 1999 and 2009. Methods and algorithms are introduced which can be used for developing complex autonomous land vehicles. Starting from historical remarks and application areas of service robots, the vehicle kinematics modeling is introduced and examples of the drive kinematics of different vehicles are given. Thereafter, typical sensors and sensor systems are described which are used to determine the internal state of the machine and its operational environment. Localization, i.e the determination where the robot is, is still a difficult problem. In the textbook, several methods are discussed which can be used under specific preconditions. Map building as well as navigation strategies complement the set of basic methods. The last two chapters deal with the questions of how to compile the above mentioned methods using powerful control architecture and what frameworks to use to support the development process. This textbook is written for beginners and advanced students from the fields of computer science, mechanical engineering, and electrical engineering, specializing in autonomous mobile systems. The book is also suited for engineers with a special interest in the development of wheel driven service robots. The writing of the manuscript was only possible with the assistance of several researchers of our Robotics Research Lab. Special thanks to Sebastian Blank, Tim Braun, and Martin Proetzsch for proof-reading and editing. Helpful contribution has been given by Daniel Schmidt (chapter kinematics), Carsten Hillenbrand and Sebastian Prehm (chapter sensors), Jan Koch, Bernd-Helge Schfer, an
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