Thomas Bräunl EMBEDDED ROBOTICS. Mobile Robot Design and Applications with Embedded Systems. Second Edition. With 233 Figures and 24 Tables.

Transcription

1 Thomas Bräunl EMBEDDED ROBOTICS Mobile Robot Design and Applications with Embedded Systems Second Edition With 233 Figures and 24 Tables Springer

2 CONTENTS PART I: EMBEDDED SYSTEMS 1 Robots and Controllers MobileRobots Embedded Controllers Interfaces Operating System References 15 2 Sensors Sensor Categories Binary Sensor Analog versus Digital Sensors Shaft Encoder A/D Converter Position Sensitive Device Compass Gyroscope, Accelerometer, Inclinometer Digital Camera References 38 3 Actuators DC Motors H-Bridge Pulse Width Modulation Stepper Motors Servos References 50 4 Control On-Off Control PID Control Velocity Control and Position Control Multiple Motors - Driving Straight V-Omega Interface References 68 IX

3 I Contents 5 Multitasking Cooperative Multitasking Preemptive Multitasking Synchronization Scheduling Interrupts and Timer-Activated Tasks References 82 6 Wireless Communication Communication Model Messages Fault-Tolerant Self-Configuration User Interface and Remote Control Sample Application Program References 93 PART II: MOBILE ROBOT DESIGN 7 Driving Robots Single Wheel Drive Differential Drive Tracked Robots Synchro-Drive Ackermann Steering Drive Kinematics References Omni-Directional Robots Mecanum Wheels Omni-Directional Drive Kinematics Omni-Directional Robot Design Driving Program References Balancing Robots Simulation Inverted Pendulum Robot Double Inverted Pendulum References Walking Robots Six-Legged Robot Design Biped Robot Design Sensors for Walking Robots Static Balance 140 X

4 Contents 10.5 Dynamic Balance References Autonomous Planes Application Control System and Sensors FlightProgram References Autonomous Vessels and Underwater Vehicles Application Dynamic Model AUVDesignMako AUVDesignUSAL References Simulation Systems Mobile Robot Simulation EyeSim Simulation System Multiple Robot Simulation EyeSim Application EyeSim Environment and Parameter Files SubSim Simulation System Actuator and Sensor Models SubSim Application SubSim Environment and Parameter Files References 193 PART III: MOBILE ROBOT APPLICATIONS 14 Localization and Navigation Localization Probabilistic Localization Coordinate Systems Dijkstra's Algorithm A* Algorithm PotentialFieldMethod Wandering Standpoint Algorithm DistBug Algorithm References Maze Exploration Micro Mouse Contest Maze Exploration Algorithms Simulated versus Real Maze Program References 228 XI

5 ^ K I Contents 16 Map Generation Mapping Algorithm Data Representation Boundary-Following Algorithm Algorithm Execution Simulation Experiments Robot Experiments Results References Real-Time Image Processing Camera Interface Auto-Brightness Edge Detection Motion Detection Color Space Color Object Detection Image Segmentation Image Coordinates versus World Coordinates References Robot Soccer RoboCup and FIRA Competitions Team Structure Mechanics and Actuators Sensing Image Processing Trajectory Planning References Neural Networks Neural Network Principles Feed-Forward Networks Backpropagation Neural Network Example Neural Controller References Genetic Algorithms Genetic Algorithm Principles Genetic Operators Applications to Robot Control Example Evolution Implementation of Genetic Algorithms References 304

6 Contents 21 Genetic Programming Concepts and Applications Lisp Genetic Operators Evolution Tracking Problem Evolution of Tracking Behavior References Behavior-Based Systems Software Architecture Behavior-Based Robotics Behavior-Based Applications Behavior Framework Adaptive Controller Tracking Problem Neural Network Controller Experiments References Evolution of Walking Gaits Splines Control Algorithm Incorporating Feedback Controller Evolution Controller Assessment Evolved Gaits References Outlook 357 APPENDICES A Programming Tools 361 B RoBIOS Operating System 371 C Hardware Description Table 413 D Hardware Specification 429 E Laboratories 437 F Solutions 447 Index 451 XIII