Autonomous Land Vehicles

1. Front Matter

   Pages i-x

   PDF

2. Introduction

   • Karsten Berns, Ewald von Puttkamer

   Pages 1-14

3. Kinematics

   • Karsten Berns, Ewald von Puttkamer

   Pages 15-38

4. Sensors

   • Karsten Berns, Ewald von Puttkamer

   Pages 39-72

5. Localization

   • Karsten Berns, Ewald von Puttkamer

   Pages 73-105

6. Mapping

   • Karsten Berns, Ewald von Puttkamer

   Pages 106-145

7. Simultaneous localization and mapping (SLAM)

   • Karsten Berns, Ewald von Puttkamer

   Pages 146-172

8. Navigation

   • Karsten Berns, Ewald von Puttkamer

   Pages 173-221

9. Control Architectures

   • Karsten Berns, Ewald von Puttkamer

   Pages 222-248

10. Software frameworks

    • Karsten Berns, Ewald von Puttkamer

    Pages 249-266

11. Back Matter

    Pages 267-283

    PDF

This textbook results from a series of lectures concerning autonomous mobile robots which have been held at the University of Kaiserslautern - tween 1999 and 2009. Methods and algorithms are introduced which can be used for developing complex autonomous land vehicles. Starting from hist- ical remarks and application areas of service robots, the vehicle kinematics modeling is introduced and examples of the drive kinematics of di?erent vehicles are given. Thereafter, typical sensors and sensor systems are - scribed which are used to determine the internal state of the machine and its operational environment. Localization, i. e the determination where the robot is, is still a di?cult problem. In the textbook, several methods are discussed which can be used under speci?c preconditions. Map building as well as navigation strategies complement the set of basic methods. The last two chapters deal with the questions of how to compile the above mentioned methods using powerful control architecture and what frameworks to use to support the development process. This textbook is written for beginners and advanced students from the ?elds of computer science, mechanical engineering, and electrical engine- ing, specializing in autonomous mobile systems. The book is also suited for engineers with a special interest in the development of wheel driven service robots. The writing of the manuscript was only possible with the assistance of several researchers of our Robotics Research Lab. Special thanks to Seb- tian Blank, Tim Braun, and Martin Proetzsch for proof-reading and editing.

• algorithms
• autonom
• kinematics
• mobile robot
• navigation
• robot
• robotics
• service robot

"Der Aufbau des Buchs kann nicht besser sein!
Außerdem ist der kurze Überblick über unterschiedliche Software frameworks in keiner anderen Literatur so schön enthalten."
Professor Dr.-Ing. Nikolaus Müller, FH Deggendorf

"Eine sehr gut strukturierte Einführung in die Thematik von der Sensorik über Algorithmik bis zum Controller-Design.
Alle wichtigen Grundlagen werden kompakt vermittelt. Pseudo-Code für die Algorithmik macht für Studenten einen schnellen Einstieg möglich"
Professor Dr.rer.nat. Christoph Klein, FH Köln

Prof. Dr. Karsten Berns and Prof. Dr. Ewald von Puttkamer are experts in the field of mobile robots. They are lecturers for embedded systems and robotics at the TU Kaiserslautern. Especially in the area of mobile robots, focusing on wheel-driven and biologically inspired robots, they have taught several courses.

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