Autonomous Land Vehicles: Steps towards Service Robots

✍ Scribed by Karsten Berns, Ewald von Puttkamer (auth.)

• Publisher: Vieweg+Teubner Verlag
• Year: 2009
• Tongue: English
• Leaves: 292
• Edition: 1
• Category: Library

✦ Synopsis

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 introduction to the methods of controlling these robotic systems. Starting from mobile robot kinematics, the reader receives a systematic overview of the basic problems as well as methods and algorithms used for solving them. Localisation, object recognition, map building, navigation and control architectures for autonomous vehicles will be discussed in detail. A survey of specific service robot applications is also included. This book is a useful introduction to mobile robotics for beginners as well as advanced students and engineers.

Content
Historical overview of autonomous land vehicles - Vehicle kinematics - Sensor systems - Where am I?: The localisation problem - Map building - Navigation strategies - Control architectures - Software frameworks

Target Groups
- Students from the fields of computer science, mechanical engineering and electrical engineering, specializing in autonomous mobile systems
- Engineers with a special interest in the development of service robots

About the Authors
Prof. Dr. Karsten Berns and Prof. Dr. Ewald von Puttkamer are experts in the field of mobile robots. They are lecturers for embedded systems and robotics at the TU Kaiserslautern. Especially in the area of mobile robots, focusing on wheel-driven and biologically inspired robots, they have taught several courses.

✦ Table of Contents

Front Matter....Pages i-x
Introduction....Pages 1-14
Kinematics....Pages 15-38
Sensors....Pages 39-72
Localization....Pages 73-105
Mapping....Pages 106-145
Simultaneous localization and mapping (SLAM)....Pages 146-172
Navigation....Pages 173-221
Control Architectures....Pages 222-248
Software frameworks....Pages 249-266
Back Matter....Pages 267-283

✦ Subjects

Appl.Mathematics/Computational Methods of Engineering