Computational principles of mobile robotics
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. The 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. The 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). Concerning 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. Part 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. One finds an extensive bibliography at the end with almost 400 entries as well as an index. This book may be of interest as an introductory text on mobile robots.
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