robot programming.epub

【实例截图】

【核心代码】

Contents
Preface
Acknowledgments
Introduction
1 Autonomous Mobile Robots
Example: Collection Task
Robot Defined
Sensing
Actuation
Intelligence
Mobile and Immobile Robots
Responding to the Challenge
Robot’s World View
Summary
Exercises
2 Control Systems
Open and Closed Loop Control
Position Control Example
Control System Catastrophe
Control System Stability
Saturation, Backlash, and Dead Zones
Open Loop Controllers with Parameters and State
Bang-Bang Controllers
Hysteresis
Summary
Exercises
3 Behaviors
Triggers and Control Systems
Servo and Ballistic Behaviors
Implementing Servo Behaviors
Finite State Analysis
FSM Example: Escape
FSM Implementation
Overloading Behaviors
Summary
Exercises
4 Arbitration
Fixed Priority Arbitration
When to Arbitrate
Graceful Degradation
The Path Not Taken
Sensor Qualification
Other Arbitration Schemes
Variable Priority
Subsumption Architecture
Motor Schema
Least Commitment Arbitration
Summary
Exercises
5 Programming
Homing Based on Differential Detectors
Homing Based on Absolute Position
Avoidance with Differential Detectors
Anti-Canyoning
Wall-Following with Contact Sensors
Wall-Following with Ranging Sensors
Wall-Following with Proximity Sensors
Confinement and Cliff Behaviors
Thrashing
Escape
Area Coverage
Deterministic Coverage
Random Coverage
Generalized Differential Response
Avoidance and Homing Using Vectors
Debugging
Summary
Exercises
6 Decomposition
SodaBot
Stating the Problem
Accomplishing the Task Simply
Visit Likely Spots
Identify Soda Cans
Abandoned versus Active Sodas
Can Pickup
Navigation
Identify, Deposit, and Recharge
Avoid Hazards
Mechanical Platform
Which Questions?
Which Sensors?
Building Behaviors
SodaBot Behaviors
Robot Recap
Principles
First Do No Harm
Tilt the Playing Field
Prefer Robust Chaos to Brittle Determinism
Summary
Exercises
7 Physical Interfaces
Collision Sensors
Bumpers
Stall Sensors
Stasis Sensing
Avoidance Sensors
Infrared Proximity Sensors
Infrared Range Sensors
Sonar Sensors
Range-Sensor Considerations
Homing Sensors
Photocells, Phototransistors, and Photodiodes
Coded Beacons
Pyroelectric Sensors
Color Blob Sensors
Magnetic Sensors
Dead Reckoning and Navigation Sensors
Shaft Encoders
Inertial Sensors
Compasses
GPS
Summary
Exercises
8 Implementation
RoCK Specifications: The Goal of a New Machine
Programming Specifications
RoCK’s Behaviors
Dance
IR_follow and VL_follow
Boston
Cruise
Escape
Joystick
Wire
Beeper Control
The Code
Scheduler
Behavior Format
Arbiter
Summary
Exercises
9 Future Robots
Reply Hazy—Ask Again Later
Which Path?
Future Actuation
Power
Motors
Manipulation
Locomotion
Future Intelligence
Robot Control
Learning
Future Sensing
Vision
Acoustic Sensing
Other Sensors
Exercise
A Mathematics of Differential Drive
Pose
Dead Reckoning
Differential Drive
London Fog
Limits of Dead Reckoning
Summary
Exercises
B BSim
BSim Aspects
The Simulator and Time
The World
Fantasy Mode and Noise
Latency
A Simple Robot
Behaviors and Arbitration
Cruise
Escape
Avoid
Wall Follow
Home
Anti-Moth
Dark-Push
London
Gizmo
Remote
Tasks
Collection Task
Gizmo Task
London Task
Simulations
Collection Simulation
London Simulation
Gizmo Simulation
User Interface
World Editor
The Robot Programmer
C Frequently Used Functions
Clip
Leaky Integrator
Running Average
Angle Computations
D Pseudocode
E Bibliography
Index