Page 24 - Introduction to Autonomous Mobile Robots

9
Introduction
employ a multitude of sensor technologies. Localization and navigation demand knowl-
edge of computer algorithms, information theory, artificial intelligence, and probability
theory.
Figure 1.15 depicts an abstract control scheme for mobile robot systems that we will use
throughout this text. This figure identifies many of the main bodies of knowledge associ-
ated with mobile robotics.
This book provides an introduction to all aspects of mobile robotics, including software
and hardware design considerations, related technologies, and algorithmic techniques. The
intended audience is broad, including both undergraduate and graduate students in intro-
ductory mobile robotics courses, as well as individuals fascinated by the field. While not
absolutely required, a familiarity with matrix algebra, calculus, probability theory, and
computer programming will significantly enhance the reader’s experience.
Mobile robotics is a large field, and this book focuses not on robotics in general, nor on
mobile robot applications, but rather on mobility itself. From mechanism and perception to
localization and navigation, this book focuses on the techniques and technologies that
enable robust mobility.
Clearly, a useful, commercially viable mobile robot does more than just move. It pol-
ishes the supermarket floor, keeps guard in a factory, mows the golf course, provides tours
in a museum, or provides guidance in a supermarket. The aspiring mobile roboticist will
start with this book, but quickly graduate to course work and research specific to the desired
application, integrating techniques from fields as disparate as human-robot interaction,
computer vision, and speech understanding.

Figure 1.14
Alice is one of the smallest fully autonomous robots. It is approximately 2x2x2 cm, it has an auton-
omy of about 8 hours and uses infrared distance sensors, tactile whiskers, or even a small camera for
navigation [54].