Computational principles of mobile robotics

Publication date 6 November 2001

algorithm intelligent systems locomotion mobile robots path planning pose maintainance representation of the environment sensors vision

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Machine vision and scene understanding (68T45) Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02) Automated systems (robots, etc.) in control theory (93C85)

Review text

Mobile robots are technical devices which require for their conception the integration of methods from many areas (mechanical engineering, computer science, electrical engineering, cognitive sciences). This book presents such techniques in a synthetic way.NEWLINENEWLINENEWLINEThe text follows a well-known paradigm for intelligent systems, namely the action side (part one), the observation side (part two) and the interface between the two where the cognitive world flourishes.NEWLINENEWLINENEWLINEThe motion is examined in the context of wheeled vehicles and then walking robots. Some words are devoted to objects propelled in a medium (liquid, air, space).NEWLINENEWLINENEWLINEConcerning sensors, one describes first nonvisual ones (tactile, inertial, infrared, sonar, radar, laser, GPS) and then associated algorithms (fusion, filtering). Then, one presents aspects of visual sensors and corresponding computational methodologies. Image features and signal processing tools are addressed.NEWLINENEWLINENEWLINEPart three is entitled: ``Reasoning. Chapter six is on ways of representing the surrounding space and the robot position in it. A section is about path planning given the previous descriptions. Chapter six focuses on control architectures. One wants to coordinate various elements. This is implemented in a neural network or genetic algorithm or hybrid system environment. Chapter seven is about ``pose maintainance. The goal is to know where one stands, and this is obtained by matching observed data with a carried model (which may itself be adapted). Chapter eight shows ways of obtaining maps of the environment. The last chapters present several specific mobile robots and perspectives for the future.NEWLINENEWLINENEWLINEOne finds an extensive bibliography at the end with almost 400 entries as well as an index.NEWLINENEWLINENEWLINEThis book may be of interest as an introductory text on mobile robots.

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