Introduction to Autonomous Mobile Robots（自主移动机器人导论第二版 英文）
This book is the result of inspirations and contributions from many researchers and students
at the Swiss Federal Institutes of Technology Zurich (ETH) and Lausanne (EPFL), Carnegie
Mellon University’s Robotics Institute, Pittsburgh (CMU), and many others around the
We would like to thank all the researchers in mobile robotics who make this field so rich
and stimulating by sharing their goals and visions with the community. It is their work that
enabled us to colle
ct the material for this book.
Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of 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 synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques.] This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.