Introduction to Autonomous Mobile Robots

Roland Siegwart, Illah R. Nourbakhsh026219502X, 9780262195027, 9781417561810

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.

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Table of contents :
Cover……Page 1
Contents……Page 8
1 Introduction……Page 16
2 Locomotion……Page 28
3 Mobile Robot Kinematics……Page 62
4 Perception……Page 104
5 Mobile Robot Localization……Page 196
6 Planning and Navigation……Page 272
Bibliography……Page 320
Index……Page 332