文档介绍：45695Siegwart 6/10/04 3:17 PM Page 1
Introduction to Autonomous Mobile Robots Introduction to
Roland Siegwart and Illah R. Nourbakhsh
Roland SIEGWART
Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder
mission to cleaning robots in the Paris Metro. Introduction to Autonomous Illah R. NOURBAKHSH
Mobile Robots offers students and other interested readers an overview of the
Autonomous Mobile Robots
technology of mobility—the mechanisms that allow a mobile robot to move
through a real world environment to perform its tasks—including otion,
sensing, localization, and motion planning. It discusses all facets of mobile robotics,
including hardware design, wheel design, kinematics analysis, sensors and per-
ception, localization, mapping, and robot control architectures.
The design of any essful robot involves the integration of many different
disciplines, among them kinematics, signal analysis, information theory, artificial
intelligence, and probability theory. Reflecting this, the book presents the tech-
niques and technology that enable mobility in a series of interacting modules.
Each chapter covers a different aspect of mobility, as the book moves from low-
level to high-level details. The first two chapters explore low-level otory
ability, examining robots’ wheels and legs and the principles of kinematics. This is
followed by an in-depth view of perception, including descriptions of many “off-
the-shelf” sensors and an analysis of the interpretation of sensed data. The final
two chapters consider the higher-level challenges of localization and cognition,
discussing essful localization strategies, autonomous mapping, and navigation
competence. Bringing together all aspects of mobile robotics into one volume,
Introduction to Autonomous Mobile Robots can serve as a textbook for course-
work or a working tool for beginners in the field. Introduction to Autonomous
Roland Siegwart is Professor