Robotics, Vision and Control: Fundamental Algorithms in MATLAB® (Springer Tracts in Advanced Robotics, 147)

✍ Scribed by Peter Corke, Witold Jachimczyk, Remo Pillat

• Publisher: Springer
• Year: 2023
• Tongue: English
• Leaves: 833
• Edition: 3rd ed. 2023
• Category: Library

✦ Synopsis

This textbook provides a comprehensive, but tutorial, introduction to robotics, computer vision, and control. It is written in a light but informative conversational style, weaving text, figures, mathematics, and lines of code into a cohesive narrative. Over 1600 code examples show how complex problems can be decomposed and solved using just a few simple lines of code.

This edition is based on MATLAB® and a number of MathWorks® toolboxes. These provide a set of supported software tools for addressing a broad range of applications in robotics and computer vision.  These toolboxes enable the reader to easily bring the algorithmic concepts into practice and work with real, non-trivial, problems. For the beginning student, the book makes the algorithms accessible, the toolbox code can be read to gain understanding, and the examples illustrate how it can be used. The code can also be the starting point for new work, for practitioners, students, or researchers, by writing programs based on toolbox functions. Two co-authors from MathWorks have joined the writing team and bring deep knowledge of these MATLAB toolboxes and workflows.

✦ Table of Contents

Foreword
Preface
Contents
Nomenclature
1 Introduction
1.1 A Brief History of Robots
1.2 Types of Robots
1.3 Definition of a Robot
1.4 Robotic Vision
1.5 Ethical Considerations
1.6 About the Book
I Foundations
2 Representing Position and Orientation
2.1 Foundations
2.2 Working in Two Dimensions (2D)
2.3 Working in Three Dimensions (3D)
2.4 Advanced Topics
2.5 MATLAB Classes for Pose and Rotation
2.6 Wrapping Up
3 Time and Motion
3.1 Time-Varying Pose
3.2 Accelerating Bodies and Reference Frames
3.3 Creating Time-Varying Pose
3.4 Application: Inertial Navigation
3.5 Wrapping Up
II Mobile Robotics
4 Mobile Robot Vehicles
4.1 Wheeled Mobile Robots
4.2 Aerial Robots
4.3 Advanced Topics
4.4 Wrapping Up
5 Navigation
5.1 Introduction to Reactive Navigation
5.2 Introduction to Map-Based Navigation
5.3 Planning with a Graph-Based Map
5.4 Planning with an Occupancy Grid Map
5.5 Planning with Roadmaps
5.6 Planning Drivable Paths
5.7 Advanced Topics
5.8 Wrapping Up
6 Localization and Mapping
6.1 Dead Reckoning Using Odometry
6.2 Landmark Maps
6.3 Occupancy Grid Maps
6.4 Pose-Graph SLAM
6.5 Wrapping Up
III Robot Manipulators
7 Robot Arm Kinematics
7.1 Forward Kinematics
7.2 Inverse Kinematics
7.3 Trajectories
7.4 Applications
7.5 Advanced Topics
7.6 Wrapping Up
8 Manipulator Velocity
8.1 Manipulator Jacobian
8.2 Application: Resolved-Rate Motion Control
8.3 Jacobian Condition and Manipulability
8.4 Force Relationships
8.5 Numerical Inverse Kinematics
8.6 Advanced Topics
8.7 Wrapping Up
9 Dynamics and Control
9.1 Independent Joint Control
9.2 Rigid-Body Equations of Motion
9.3 Forward Dynamics
9.4 Rigid-Body Dynamics Compensation
9.5 Task-Space Dynamics and Control
9.6 Application
9.7 Wrapping Up
IV Computer Vision
10 Light and Color
10.1 Spectral Representation of Light
10.2 Color
10.3 Advanced Topics
10.4 Application: Color Images
10.5 Wrapping Up
11 Images and Image Processing
11.1 Obtaining an Image
11.2 Image Histograms
11.3 Monadic Operations
11.4 Dyadic Operations
11.5 Spatial Operations
11.6 Mathematical Morphology
11.7 Shape Changing
11.8 Wrapping Up
12 Image Feature Extraction
12.1 Region Features
12.2 Line Features
12.3 Point Features
12.4 Applications
12.5 Wrapping Up
13 Image Formation
13.1 Perspective Camera
13.2 Camera Calibration
13.3 Wide Field-of-View Cameras
13.4 Unified Imaging Model
13.5 Novel Cameras
13.6 Applications
13.7 Advanced Topics
13.8 Wrapping Up
14 Using Multiple Images
14.1 Point Feaature Correspondence
14.2 Geometry of Multiple Views
14.3 Sparse Stereo
14.4 Dense Stereo
14.5 Anaglyphs
14.6 Other Depth Sensing Technologies
14.7 Point Clouds
14.8 Applications
14.9 Wrapping Up
V Robotics, Vision & Control
15 Vision-Based Control
15.1 Position-Based Visual Servoing
15.2 Image-Based Visual Servoing
15.3 Wrapping Up
16 Real-World Applications
16.1 Lane and Vehicle Detection with a Monocular Camera
16.2 Highway Lane Change Planner and Controller
16.3 UAV Package Delivery
16.4 Pick-and-Place Workflow in Gazebo Using Point-Cloud Processing and RRT Path Planning
Supplementary Information
A Software Installation
B Linear Algebra
C Geometry
D Lie Groups and Algebras
E Linearization, Jacobians, and Hessians
F Solving Systems of Equations
G Gaussian Random Variables
H Kalman Filter
I Graphs
J Peak Finding
References
Index of People
Index of Functions, Classes, and MethodsClasses are shown in bold, and methods are prefixed by a dot. All others are functions.
Index of Apps
Index of Models
General Index