In Computational Principles of Mobile Robotics, authors Anthony Dudek of McGill University (Montréal) and Michael Jenkin of York University (Toronto) have written a superb textbook for advanced undergraduate and graduate students in the field of mobile robotics. With a special emphasis on computation and algorithms, Dudek and Jenkin address a range of strategies for enabling robots to master problems of navigation, pose estimation, and autonomous exploration. While they concentrate on wheeled and legged mobile robots, they also discuss a variety of other propulsion systems with kinematic models developed for many of the more common locomotive strategies.
Chapters present algorithms for both visual and nonvisual sensor technologies, including sonar, vision, and laser scanners. In the section on reasoning, the authors thoroughly examine the subject of planning and the issues related to spatial representation. A comprehensive overview of the field, Computational Principles of Mobile Robotics complements its discussion of state-of-the art methods with 139 illustrations of key current and historical technologies.
Softcover, 280 pages
- 1. Overview and Motivation
- 2. Mobile Robot Hardware
- 3. Non-visual Sensors and Algorithms
- 4. Visual Sensors and Algorithms
- 5. Representing and Reasoning About Space
- 6. Operating Environment
- 7. Pose Maintenance
- 8. Maps and Related Tasks
- 9. Practical Mobile Robot Tasks
- 10. The Future of Mobile Robotics