Introduction to Autonomous Mobile Robots, Second Edition
Introduction to Autonomous Mobile Robots, Second Edition
复制标题
自主移动机器人简介，第二版
DOI：
--
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
D. Scaramuzza
中科院分区：
文献类型：
--
作者：
R. Siegwart;I. Nourbakhsh;D. Scaramuzza
未经出版商书面许可，不得以任何电子或机械方式（包括复印、录音或信息存储和检索）以任何形式复制本书的任何部分。自主移动机器人简介。-第二版。 / Roland Siegwart、Illah R. Nourbakhsh 和 Da-vide Scaramuzza。 p。 cm.-（智能机器人和自主代理系列）包括参考文献和索引。机器人技术迄今为止在工业制造领域取得了最大的成功。机械臂，或者说机械手，是一个价值 20 亿美元的产业。机器人手臂通过肩部固定在装配线上的特定位置，可以快速、准确地移动，以执行点焊和喷漆等重复性任务（图 1.1）。在电子工业中，机械手以超人的精度放置表面安装元件，使便携式电话和笔记本电脑成为可能。然而，尽管这些商用机器人取得了巨大的成功，但它们仍然存在一个根本性的缺点：缺乏机动性。固定机械手的运动范围有限，这取决于图 1.1 KUKA 的汽车装配厂点焊机器人和 SIG Dem-aurex SA 的并联机器人 Delta（由 EPFL 发明 [296]）在巧克力包装过程中的图片。 2 第 1 章介绍了用螺栓固定的位置。相比之下，移动机器人将能够在整个制造工厂中移动，在最有效的地方灵活地发挥其才能。本书重点关注移动技术：移动机器人如何在无人监督的情况下在现实环境中移动以完成其任务？第一个挑战是运动本身。移动机器人应该如何移动？特定的运动机制为何优于其他运动机制？火星等恶劣环境会引发更不寻常的运动机制（图 1.2）。在危险和荒凉的环境中，甚至在地球上，这种遥控操作系统也很受欢迎（图 1.3-1.6）。在这些情况下，机器人的低复杂性通常使得人类操作员无法直接控制其运动。人类执行定位和认知活动，但依赖机器人的控制方案来提供运动控制。例如，Plustech 的步行机器人提供自动腿部协调，而操作员则选择总体行进方向（图 1.3）。图1.6描绘了一个水下航行器，它控制三个螺旋桨，在水下湍流和水流的情况下自主稳定机器人潜艇，同时操作员选择潜艇要实现的位置目标。 ……
No part of this book may be reproduced in any form by any electronic or mechanical means (including photocopying, recording, or information storage and retrieval) without permission in writing from the publisher. Introduction to autonomous mobile robots.-2nd ed. / Roland Siegwart, Illah R. Nourbakhsh, and Da-vide Scaramuzza. p. cm.-(Intelligent robotics and autonomous agents series) Includes bibliographical references and index. Robotics has achieved its greatest success to date in the world of industrial manufacturing. Robot arms, or manipulators, comprise a $ 2 billion industry. Bolted at its shoulder to a specific position in the assembly line, the robot arm can move with great speed and accuracy to perform repetitive tasks such as spot welding and painting (figure 1.1). In the electronics industry, manipulators place surface-mounted components with superhuman precision, making the portable telephone and laptop computer possible. Yet, for all of their successes, these commercial robots suffer from a fundamental disadvantage: lack of mobility. A fixed manipulator has a limited range of motion that depends Figure 1.1 Picture of auto assembly plant-spot welding robot of KUKA and a parallel robot Delta of SIG Dem-aurex SA (invented at EPFL [296]) during packaging of chocolates. 2 Chapter 1 on where it is bolted down. In contrast, a mobile robot would be able to travel throughout the manufacturing plant, flexibly applying its talents wherever it is most effective. This book focuses on the technology of mobility: how can a mobile robot move unsu-pervised through real-world environments to fulfill its tasks? The first challenge is locomo-tion itself. How should a mobile robot move, and what is it about a particular locomotion mechanism that makes it superior to alternative locomotion mechanisms? Hostile environments such as Mars trigger even more unusual locomotion mechanisms (figure 1.2). In dangerous and inhospitable environments, even on Earth, such teleoperated systems have gained popularity (figures 1.3-1.6). In these cases, the low-level complexities of the robot often make it impossible for a human operator to control its motions directly. The human performs localization and cognition activities but relies on the robot's control scheme to provide motion control. For example, Plustech's walking robot provides automatic leg coordination while the human operator chooses an overall direction of travel (figure 1.3). Figure 1.6 depicts an underwater vehicle that controls three propellers to stabilize the robot submarine autonomously in spite of underwater turbulence and water currents while the operator chooses position goals for the submarine to achieve. …