自主移动机器人导论第二版（全英）

Preface xv 1 Introduction 1 1.1 Introduction 1 1.2 An Overview of the Book 11 2 Locomotion 13 2.1 Introduction 13 2.1.1 Key issues for locomotion 16 2.2 Legged Mobile Robots 17 2.2.1 Leg configurations and stability 18 2.2.2 Consideration of dynamics 21 2.2.3 Examples of legged robot locomotion 25 2.3 Wheeled Mobile Robots 35 2.3.1 Wheeled locomotion: The design space 35 2.3.2 Wheeled locomotion: Case studies 43 2.4 Aerial Mobile Robots 50 2.4.1 Introduction 50 2.4.2 Aircraft configurations 52 2.4.3 State of the art in autonomous VTOL 52 2.5 Problems 56 3 Mobile Robot Kinematics 57 3.1 Introduction 57 3.2 Kinematic Models and Constraints 58 viii Contents 3.2.1 Representing robot position 58 3.2.2 Forward kinematic models 61 3.2.3 Wheel kinematic constraints 63 3.2.4 Robot kinematic constraints 71 3.2.5 Examples: Robot kinematic models and constraints 73 3.3 Mobile Robot Maneuverability 77 3.3.1 Degree of mobility 77 3.3.2 Degree of steerability 81 3.3.3 Robot maneuverability 82 3.4 Mobile Robot Workspace 84 3.4.1 Degrees of freedom 84 3.4.2 Holonomic robots 85 3.4.3 Path and trajectory considerations 87 3.5 Beyond Basic Kinematics 90 3.6 Motion Control (Kinematic Control) 91 3.6.1 Open loop control (trajectory-following) 91 3.6.2 Feedback control 92 3.7 Problems 99 4 Perception 101 4.1 Sensors for Mobile Robots 101 4.1.1 Sensor classification 101 4.1.2 Characterizing sensor performance 103 4.1.3 Representing uncertainty 109 4.1.4 Wheel/motor sensors 115 4.1.5 Heading sensors 116 4.1.6 Accelerometers 119 4.1.7 Inertial measurement unit (IMU) 121 4.1.8 Ground beacons 122 4.1.9 Active ranging 125 4.1.10 Motion/speed sensors 140 4.1.11 Vision sensors 142 4.2 Fundamentals of Computer Vision 142 4.2.1 Introduction 142 4.2.2 The digital camera 142 4.2.3 Image formation 148 4.2.4 Omnidirectional cameras 159 4.2.5 Structure from stereo 169 4.2.6 Structure from motion 180 Contents ix 4.2.7 Motion and optical flow 189 4.2.8 Color tracking 192 4.3 Fundamentals of Image Processi