Introduction to Autonomous Mobile Robots

by Roland Siegwart, Illah Reza Nourbakhsh

Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in the Paris Metro. Introduction to Autonomous Mobile Robots offers students and other interested readers an overview of the technology of mobility -- the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks -- including locomotion, sensing, localization, and motion planning. It discusses all facets of mobile robotics, including hardware design, wheel design, kinematics analysis, sensors and perception, localization, mapping, and robot control architectures.

The design of any successful 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 techniques 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 locomotory 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 successful 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 coursework or a working tool for beginners in the field.

Genres: Textbooks, Engineering, Computer Science, Science, Programming, Nonfiction, Technology

331 pages, Hardcover

First published April 1, 2004

Reviews

[Abdelrhman · Rating 4 out of 5]

The second edition is far more better than the 1st one especially in chapter 4 related to the feature extraction and motion from structure also in chapter 5 they added lots of explanation on SLAM and markov localization now it's more compact. For the rest of the book there's tons of reference to go deeper in each topic and most of them are very new compared to the time of the book.

The last star for lack of explanation in kinematics of both legged and wheeled robotics also how everything is connected is still vague a little bit especially the action part but if what's you're after is deeper understanding in Perception and how it's connected to Localization and planning then you're in for a treat especially accompanying the AMRx course on EDX and doing the optional simulation in VREP.

[Cmwe808 · Rating 4 out of 5]

Four stars in from me for this book. That is, four celestial bodies to which to send your rover. The chapter when he derives the transformation matrix was cliff hanger central!

[Arnoud Visser]

A book that covers nearly every aspect of Autonomous Mobile Robots. The level is good, the paragraphs are well written, but the book organization of the book makes it difficult to read. The chapters are long and it is not always clear where the story is heading. Still, it is one of the best introduction on this subject.

[Arnoud Visser]

Checking the chapters about locomotion and kinematics. Switched halfway to the 2nd edition

[Tomasz Bartczak · Rating 3 out of 5]

read parts of it during edX course on this topic. quite detailed as for me.