Elements of robotics

Ben-Ari, Mordechai; Mordechai Ben-Ari, Francesco Mondada

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Elements of robotics

Ben-Ari, Mordechai

ISBN:9783319625324
Main Entry: Ben-Ari, Mordechai
Title:Elements of robotics/ Mordechai Ben-Ari, Francesco Mondada
Publication, Distribution:Cham, Switzerland: Springer, [201?]

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Preface Contents Robots & their Applications Classiﬁcation of Robots Industrial Robots Autonomous Mobile Robots Humanoid Robots Educational Robots The Generic Robot Differential Drive Proximity Sensors Ground Sensors Embedded Computer The Algorithmic Formalism Book Content Overview Summary Reading Refs Sensors Classiﬁcation of Sensors Distance Sensors Ultrasound Distance Sensors Infrared Proximity Sensors Optical Distance Sensors Triangulating Sensors Laser Scanners Cameras Other Sensors Range, Resolution, Precision, Accuracy Nonlinearity Linear Sensors Mapping Nonlinear Sensors Summary Reading Refs Reactive Behavior Braitenberg Vehicles Reacting to the Detection of Object Reacting & Turning Line Following Line Following with Pair of Ground Sensors Line Following with only 1 Ground Sensor Line Following without a Gradient Braitenberg Presentation of Vehicles Summary Reading Refs Finite State Machines State Machines Reactive Behavior with State Search & Approach Implementation of FSMs Summary Reading Refs Robotic Motion & Odometry Distance, Velocity and Time Acceleration as Change in Velocity From Segments to Continuous Motion Navigation by Odometry Linear Odometry Odometry with Turns Errors in Odometry Wheel Encoders Inertial Navigation Systems Accelerometers Gyroscopes Applications Degrees of Freedom & Numbers of Actuators Relative Number of Actuators & DOF Holonomic & Non-holonomic Motion Summary Reading Refs Control Control Models Open Loop Control Closed Loop Control Period of Control Algorithm On-Off Control Proportional (P) Controller Proportional-Integral (PI) Controller Proportional-Integral-Derivative (PID) Controller Summary Reading Ref Local Navigation - Obstacle Avoidance Obstacle Avoidance Wall Following Wall Following with Direction The Pledge Algorithm Following a Line with a Code Ants Searching for a Food Source Probabilistic Model of Ants' Behavior FSM for Path Finding Algorithm Summary Reading Refs Localization Landmarks Determining Position from Objects whose Position is known Determining Position from Angle & Distance Determining Position by Triangulation GPS Probabilistic Localization Sensing Increases Certainty Uncertainty in Sensing Uncertainty in Motion Summary Reading Refs Mapping Discrete & Continuous Maps Content of Grid Map Cells Creating a Map by Exploration - Frontier Algorithm Grid Maps with Occupancy Probabilities The Frontier Algorithm Priority in the Frontier Algorithm Mapping using Environment Knowledge Numerical Example for SLAM Algorithm Activities for Demonstrating the SLAM Algorithm Formalization of SLAM Algorithm Summary Reading Refs Mapping-based Navigation Dijkstra Algorithm for Grid Map Dijkstra Algorithm on Grid Map with Constant Cost Dijkstra Algorithm with Variable Costs Dijkstra Algorithm for Continuous Map Path Planning with A* Algorithm Path Following & Obstacle Avoidance Summary Reading Refs Fuzzy Logic Control Fuzzify Apply Rules Defuzzify Summary Reading Refs Image Processing Obtaining Images Overview of Digital Image Processing Image Enhancement Spatial Filters Histogram Manipulation Edge Detection Corner Detection Recognizing Blobs Summary Reading Refs Neural Networks Biological Neural System Artiﬁcial Neural Network Model Braintenberg Vehicle with ANN ANNs Topologies Multilayer Topology Memory Spatial Filter Learning Categories of Learning Algorithms Hebbian Rule for Learning in ANNs Summary Reading Refs Machine Learning Distinguishing btw 2 Colors Discriminant based on the Means Discriminant based on the Means & Variances Algorithm for Learning to Distinguish Colors Linear Discriminant Analysis Motivation The Linear Discriminant Choosing a Point for the Linear Discriminant Choosing a Slope for the Linear Discriminant Computation of Linear Discriminant - Numerical Example Comparing the Quality of the Discriminants Activities for LDA Generalization of the Linear Discriminant Perceptrons Detecting a Slope Classiﬁcation with Perceptrons Learning by a Perceptron Numerical Example Tuning Perceptron Parameters Summary Reading Refs Swarm Robotics Approaches to Implementing Robot Collaboration Coordination by Local Exchange of Information Direct Communications Indirect Communications BeeClust Algorithm ASSISIbf Implementation of BeeClust Swarm Robotics based on Physical Interactions Collaborating on Physical Task Combining the Forces of Multiple Robots Occlusion-based Collective Pushing Summary Reading Refs Kinematics of Robotic Manipulator Forward Kinematics Inverse Kinematics Rotations Rotating a Vector Rotating a Coordinate Frame Transforming a Vector from One Coordinate Frame to Another Rotating & Translating Coordinate Frame Taste of 3D Rotations Rotations around the 3 Axes The Right-Hand Rule Matrices for 3D Rotations Multiple Rotations Euler Angles Number of Distinct Euler Angle Rotations Advanced Topics in 3D Transforms Summary Reading Refs Measurement Units Mathematical Derivations & Tutorials Conditional Probability & Bayes Rule Normalization Mean & Variance Covariance Multiplication of Vectors & Matrices Area of Trapezoid at Triangle Base Algebraic Formulas for cos 15 Index ...ادامه