Introduction to Autonomous Mobile Robots（自主移动机器人导论）
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Autonomous
Mobile Robots
Introduction to
Roland
Illah R.
SIEGWART
NOURBAKHSH
Autonomous Mobile Robots
SIEGWART and NOURBAKHSH
Introduction to
Introduction to Autonomous Mobile Robots
Roland Siegwart and Illah R. Nourbakhsh
Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder
mission to cleaning robots in the Paris Metro. Introduction to Autonomous
Mobile Robots offers students and other interested readers an overview of the
technology of mobility—the mechanisms that allow a mobile robot to move
through a real world environment to perform its tasks—including locomotion,
sensing, localization, and motion planning. It discusses all facets of mobile robotics,
including hardware design, wheel design, kinematics analysis, sensors and per-
ception, localization, mapping, and robot control architectures.
The design of any successful robot involves the integration of many different
disciplines, among them kinematics, signal analysis, information theory, artificial
intelligence, and probability theory. Reflecting this, the book presents the tech-
niques and technology that enable mobility in a series of interacting modules.
Each chapter covers a different aspect of mobility, as the book moves from low-
level to high-level details. The first two chapters explore low-level locomotory
ability, examining robots’ wheels and legs and the principles of kinematics. This is
followed by an in-depth view of perception, including descriptions of many “off-
the-shelf” sensors and an analysis of the interpretation of sensed data. The final
two chapters consider the higher-level challenges of localization and cognition,
discussing successful localization strategies, autonomous mapping, and navigation
competence. Bringing together all aspects of mobile robotics into one volume,
Introduction to Autonomous Mobile Robots can serve as a textbook for course-
work or a working tool for beginners in the field.
Roland Siegwart is Professor and Head of the Autonomous Systems Lab at the
Swiss Federal Institute of Technology, Lausanne. Illah R. Nourbakhsh is Associate
Professor of Robotics in the Robotics Institute, School of Computer Science, at
Carnegie Mellon University.
“This book is easy to read and well organized. The idea of providing a robot
functional architecture as an outline of the book, and then explaining each
component in a chapter, is excellent. I think the authors have achieved their
goals, and that both the beginner and the advanced student will have a clear
idea of how a robot can be endowed with mobility.”
—Raja Chatila, LAAS-CNRS, France
Intelligent Robotics and Autonomous Agents series
A Bradford Book
The MIT Press
Massachusetts Institute of Technology
Cambridge, Massachusetts 02142
http://mitpress.mit.edu
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0-262-19502-X
45695Siegwart 6/10/04 3:17 PM Page 1
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