Embedded Robotics: Mobile Robot Design and Applications with Embedded SystemsSpringer Science & Business Media, 20/09/2008 - 546 من الصفحات . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . he EyeBot controller and mobile robots have evolved over more than a decade. This book gives an in-depth introduction to embedded systems and autonomous mobile robots, using the EyeBot controller (EyeCon) and the EyeBot mobile robot family as application examples. This book combines teaching and research material and can be used for courses in Embedded Systems as well as in Robotics and Automation. We see labs as an essential teaching and learning method in this area and encourage everybody to reprogram and rediscover the algorithms and systems presented in this book. Although we like simulations for many applications and treat them in quite some depth in several places in this book, we do believe that students should also be exposed to real hardware in both areas, embedded systems and rob- ics. This will deepen the understanding of the subject area and of course create a lot more fun, especially when experimenting with small mobile robots. The original goal for the EyeBot project has been to interface an embedded system to a digital camera sensor (EyeCam), process its images locally in re- time for robot navigation, and display results on a graphics LCD. All of this started at a time before digital cameras came to the market – in fact the EyeBot controller was one of the first “embedded vision systems”. |
المحتوى
3 | |
17 | |
Contents | 28 |
Sensors | 49 |
Actuators | 73 |
Control | 83 |
Multitasking | 103 |
Wireless Communication | 117 |
Maze Exploration | 271 |
Map Generation | 283 |
RealTime Image Processing | 297 |
Robot Soccer | 317 |
Neural Networks | 331 |
Genetic Algorithms | 347 |
Genetic Programming | 365 |
BehaviorBased Systems | 383 |
Driving Robots | 131 |
OmniDirectional Robots | 147 |
Balancing Robots | 157 |
Walking Robots | 165 |
Autonomous Planes | 185 |
l3 Autonomous Vessels and Underwater Vehicles | 195 |
Robot Manipulators | 205 |
Simulation Systems | 215 |
Localization and Navigation | 241 |
Evolution of Walking Gaits | 403 |
Automotive Systems | 415 |
Outlook | 439 |
A Programming Tools | 443 |
Hardware Description Table | 495 |
Hardware Specification | 511 |
F Solutions | 529 |
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عبارات ومصطلحات مألوفة
actual agent analog angle application program autonomous ball biped Braunl BYTE camera color configuration space coordinates DC motors defined Demosaicing detection differential drive distance dynamic embedded systems encoders environment error example execution EyeBot controller EyeCon EyeSim feedback field FIFO Figure file find first fitness fixed function genetic algorithm global goal grayscale gyroscope handle hardware IEEE image processing implementation inclinometer infrared input interface kinematics loop maze measured Mecanum wheels memory mobile robot module MOTORDrive multitasking node obstacle opcode operand operation output parameters path PID controller pixels position and orientation Position Sensitive Device preemptive multitasking remote control RoBIOS RoboCup robot soccer rotation schema Semantics semaphore sensor serial servo signal specified speed steering stepper motors sufficient switching task timer tion updated user program Valid values vehicle vehicle’s velocity