| Description |
1 online resource |
| Series |
Mechanisms and machine science, 2211-0984 ; v. 87 |
|
Mechanisms and machine science ; v. 87.
|
| Contents |
Intro -- Preface -- Contents -- 1 Introduction -- 1.1 Motivation -- 1.2 Book Statement -- 1.3 Aim and Scope -- References -- 2 Introduction to Mobile Robots Navigation, Localization and Mapping -- 2.1 Introduction -- 2.2 Mathematical Description of Mobile Robots -- 2.2.1 Holonomic and Non-holonomic Mobile Robots -- 2.2.2 Kinematics -- 2.2.3 Dynamics -- 2.3 Terrain Mapping -- 2.3.1 Topological Maps -- 2.3.2 Metric Maps -- 2.4 Mobile Robot's Navigation -- 2.4.1 Path Planning -- 2.4.2 Bug Algorithms -- 2.4.3 Geometry-Based Roadmaps -- 2.4.4 Sampling-Based Roadmaps |
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2.4.5 Potential Field Path Planning -- 2.5 Robots Localization -- 2.5.1 Odometry -- 2.5.2 Inertial Navigation -- 2.5.3 Visual and Laser Odometry -- 2.5.4 Active Beacon Localization -- 2.6 Summary -- References -- 3 SLAM as Probabilistic Robotics Framework Approach -- 3.1 Introduction -- 3.2 Motion and Observation Models -- 3.2.1 Motion Model -- 3.2.2 Observation Model -- 3.3 Localization Estimation -- 3.3.1 Markov Localization -- 3.3.2 Particle Filters -- 3.3.3 Kalman Filters -- 3.4 Map Estimation -- 3.4.1 Occupancy Grid -- 3.5 Simultaneous Localization and Mapping (SLAM) |
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3.5.1 SLAM Problem Definition -- 3.5.2 EKF-SLAM -- 3.5.3 Particle Filter SLAM -- 3.5.4 Graph-Based SLAM -- 3.6 Summary -- References -- 4 Multi-agent SLAM-Based Inspection System for Rough Terrain -- 4.1 Introduction -- 4.2 Group of Mobile Robots -- 4.2.1 Introduction to Multiagent Systems -- 4.2.2 Multirobot Path Planning -- 4.3 SLAM-Based Robot Inspection Approach -- 4.3.1 Pose Tracking -- 4.3.2 Mapping -- 4.4 SLAM for Mobile Robots Group -- 4.4.1 Multiagent Localization and Mapping -- 4.5 Summary -- References -- 5 Evaluation -- 5.1 Introduction -- 5.2 Simulation Verification |
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5.2.1 Introduction -- 5.2.2 V-REP Models and Integration with ROS Applications -- 5.2.3 Plane Terrain Workspace Scene -- 5.2.4 Plane Terrain Advanced Workspace Scene -- 5.2.5 Rough Terrain Workspace Scene -- 5.2.6 Multirobot Exploration -- 5.3 Environmental Experiments -- 5.3.1 Introduction -- 5.3.2 Underground Inspection in Mine-Like Rough Terrain -- 5.4 Summary -- References -- 6 Conclusions and Future Work Discussion -- 6.1 Conclusions Discussion -- 6.2 Future Work Discussion -- Reference |
| Summary |
This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The systems development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used |
| Bibliography |
Includes bibliographical references |
| Subject |
Mobile robots.
|
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Mobile robots -- Control
|
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Mobile robots
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Automatic control
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Computational intelligence
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Machinery
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Mechatronics
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Robotics
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| Form |
Electronic book
|
| Author |
Kudriashov, Andrii
|
|
Buratowski, Tomasz.
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Giergiel, Mariusz
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Małka, Piotr
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| ISBN |
9783030489816 |
|
3030489817 |
|
