Page 10 - Designing Autonomous Mobile Robots : Inside the Mindo f an Intellegent Machine
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Contents
Chapter 6: Communications and Control .................................................. 77
Popular networks ............................................................................................ 77
Rigid protocols and other really bad ideas ..................................................... 81
Flexible protocols ........................................................................................... 85
Communications architectures ...................................................................... 88
Wrappers, layers, and shells ........................................................................... 89
Drivers, OCXs and DLLs ............................................................................... 93
Improving communications efficiency........................................................... 95
Timing issues and error handling ................................................................... 99
Other issues .................................................................................................. 103
SECTION 2 – Basic Navigation ..................................................... 105
Chapter 7: Basic Navigation Philosophies................................................ 107
The academic school of thought .................................................................. 107
The industrial school of thought ................................................................. 109
Area coverage robots .................................................................................... 109
Virtual path following vs. goal seeking ........................................................ 111
A practical starting point and “a priori” knowledge.................................... 115
Chapter 8: Live Reckoning ....................................................................... 117
Understanding why good dead reckoning is crucial .................................... 120
Picking coordinate systems .......................................................................... 121
Tick calculations........................................................................................... 122
Live reckoning interaction with other processes......................................... 126
Chapter 9: The Best Laid Plans of Mice and Machines ............................. 127
Path planning and execution ....................................................................... 128
Are we there yet?.......................................................................................... 130
Running on................................................................................................... 132
Bread crumbs and irregular path following .................................................. 132
The Z axis, maps, and wormholes ................................................................ 134
Summary ....................................................................................................... 135
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