Embedded robotics : from mobile robots to autonomous vehicles with Raspberry Pi and Arduino / / Thomas Bräunl

• Record Nr.: UNISA996549469803316
• Autore: Bräunl Thomas
• Pubbl/distr/stampa: Singapore : , : Springer, , [2022]; ©2022
• ISBN: 981-16-0803-2; 981-16-0804-0
• Edizione: [4th ed.]
• Descrizione fisica: 1 online resource (510 pages)
• Disciplina: 006.22
• Soggetti: Arduino (Programmable controller); Embedded computer systems; Mobile robots
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Nota di contenuto: Intro -- Preface -- Acknowledgements -- Additional Materials -- Contents -- Embedded Systems -- 1 Robots and Controllers -- 1.1 Mobile Robots -- 1.2 Embedded Controllers -- 1.3 Robot Design -- 1.4 Operating System -- 1.5 Simulation -- 1.6 Tasks -- 2 Central Processing Unit -- 2.1 Logic Gates -- 2.1.1 Encoder and Decoder -- 2.1.2 Multiplexer and Demultiplexer -- 2.1.3 Adder -- 2.2 Function Units -- 2.2.1 Adding -- 2.2.2 Logic Functions -- 2.2.3 Subtracting -- 2.2.4 Comparisons -- 2.3 Registers and Memory -- 2.4 Retro -- 2.5 Arithmetic Logic Unit -- 2.6 Control Unit -- 2.7 Central Processing Unit -- 2.7.1 CPU-1-Minimal Design -- 2.7.2 CPU-2-Double Byte Instructions and Branching -- 2.7.3 CPU-3-Addresses and Constants -- 2.7.4 CPU-4-Symmetrical Design -- 2.8 Structured Design -- 2.9 Tasks -- 3 Arduino -- 3.1 Arduino Hardware -- 3.2 Arduino Programming -- 3.3 Arduino Interfacing -- 3.4 Arduino Communication -- 3.5 Beyond Arduino -- 3.5.1 Python for Arduino -- 3.5.2 ArduPilot -- 3.5.3 ESP32 -- 3.6 Tasks -- 4 Raspberry Pi -- 4.1 Raspberry Pi Operating System and Setup -- 4.2 Raspberry Pi Tools and Programming -- 4.2.1 File Exchange for Raspberry Pi -- 4.2.2 Remote Access for Raspberry Pi -- 4.2.3 Compiling C and C++ Programs on ; Raspberry Pi -- 4.2.4 Interpreting Python Programs on Raspberry Pi -- 4.2.5 Turnkey System -- 4.3 Raspberry Pi Input/Output Lines -- 4.4 Raspberry Pi Communication -- 4.4.1 Pi Serial Communication -- 4.4.2 Raspberry Pi LAN and WLAN Communication -- 4.5 Integration Development Environments -- 4.6 Tasks -- 5 Sensors and Interfaces -- 5.1 Sensor Categories -- 5.2 Synchronous Serial and I2C Interfaces -- 5.2.1 Synchronous Serial Interface -- 5.2.2 I2C Interface -- 5.3 Binary Sensors -- 5.4 Shaft Encoders -- 5.5 A/D Converters -- 5.6 Position Sensitive Devices-Sonar, Infrared, Laser -- 5.6.1 Sonar Sensors -- 5.6.2 Infrared Sensors.; 5.6.3 Laser Distance Sensors -- 5.7 Lidar Sensors -- 5.8 Orientation Sensors -- 5.9 Inertial Measurement Units -- 5.10 Global Navigation Satellite Systems -- 5.10.1 Differential GNSS and RTK -- 5.10.2 GNSS/IMU Combinations -- 5.11 Digital Image Sensors -- 5.11.1 Camera Sensor Data -- 5.11.2 Camera RoBIOS Interface -- 5.12 Tasks -- 6 Actuators -- 6.1 DC Motors -- 6.1.1 Motor Model -- 6.1.2 Simplified Motor Model -- 6.2 H-Bridge -- 6.3 Pulse Width Modulation -- 6.4 Stepper Motors -- 6.5 Servos -- 6.6 Tasks -- 7 Control -- 7.1 On-Off Control -- 7.2 PID Control -- 7.2.1 Proportional Controller -- 7.2.2 Integral Controller -- 7.3 Derivative Controller -- 7.3.1 PID Parameter Tuning -- 7.4 Velocity Control and Position Control -- 7.5 Multiple Motors-Driving Straight -- 7.6 V-Omega Interface -- 7.7 Tasks -- 8 Multitasking -- 8.1 Preemptive Multithreading -- 8.2 Synchronization -- 8.2.1 Mutex Example -- 8.2.2 Master with Multiple Slaves -- 8.3 Scheduling -- 8.3.1 Static Priorities -- 8.3.2 Dynamic Priorities -- 8.4 Interrupts and Timer-Activated Tasks -- 8.5 Tasks -- 9 Communication -- 9.1 Communication Channels -- 9.1.1 Ethernet -- 9.1.2 Wi-Fi -- 9.1.3 Bluetooth -- 9.2 File Transfer and Remote Access -- 9.3 Radio Library -- 9.4 Robot to Robot Communication -- 9.5 Robot to PC Communication -- 9.6 Tasks -- Robot Hardware -- 10 Driving Robots -- 10.1 Single Wheel Drive -- 10.2 Differential Drive -- 10.2.1 Mini Robot Platform FT-DC-002 -- 10.2.2 Four-Wheel-Drive Robot HC-4 -- 10.2.3 SoccerBot S4 -- 10.3 Tracked Robots -- 10.4 Synchro-Drive -- 10.5 Ackermann Steering -- 10.6 Omni-Directional Robots -- 10.6.1 Mecanum Wheels -- 10.6.2 Omni-Directional Drive -- 10.6.3 Omni-Directional Robot Design -- 10.6.4 Omni-Drive Program -- 10.7 Drive Kinematics -- 10.7.1 Differential Drive Kinematics -- 10.7.2 Ackermann Drive Kinematics -- 10.7.3 Omni-Drive Kinematics.; 10.8 Tasks -- 11 Walking Robots -- 11.1 Balancing Robots -- 11.2 Six-Legged Robots -- 11.3 Biped Robots -- 11.4 Static Balance -- 11.5 Dynamic Balance -- 11.5.1 Dynamic Walking Methods -- 11.5.2 Alternative Biped Designs -- 11.6 Tasks -- 12 Autonomous Boats and Planes -- 12.1 Autonomous Boats -- 12.2 Autonomous Underwater Vehicles -- 12.2.1 Mako AUV -- 12.2.2 USAL AUV -- 12.2.3 BlueROV2 -- 12.2.4 AUV Tasks -- 12.3 Unmanned Aerial Vehicles (UAVs) -- 12.4 Tasks -- 13 Robot Manipulators -- 13.1 Homogeneous Coordinates -- 13.2 Manipulator Kinematics -- 13.2.1 Forward Kinematics -- 13.2.2 Inverse Kinematics -- 13.3 Manipulator Simulation -- 13.4 Teaching and Programming -- 13.5 Industrial Manipulators -- 13.5.1 Universal Robots UR5 -- 13.5.2 Nachi ST133TF -- 13.6 Tasks -- Robot Software -- 14 Localization and Navigation -- 14.1 Localization -- 14.1.1 Radio Beacons -- 14.1.2 Light Beacons -- 14.1.3 Dead Reckoning -- 14.2 Environment Representation -- 14.3 Quadtree -- 14.4 Visibility Graph -- 14.5 Voronoi Diagram and Brushfire Algorithm -- 14.5.1 Delaunay Triangulation -- 14.5.2 Brushfire Algorithm -- 14.6 Potential Field Method -- 14.7 Wandering Standpoint Algorithm -- 14.8 Bug Algorithm Family -- 14.9 Dijkstra's Algorithm -- 14.10 A* Algorithm ; -- 14.11 Probabilistic Localization -- 14.12 SLAM -- 14.13 Tasks -- 15 Maze Navigation -- 15.1 Micro Mouse Contest -- 15.2 Maze Exploration Algorithms -- 15.2.1 Wall Following -- 15.2.2 Recursive Exploration -- 15.3 Simulated Versus Real Maze Program -- 15.4 Tasks -- 16 Image Processing -- 16.1 Camera Interface -- 16.2 Image File Formats -- 16.2.1 Black and White Image Files PBM -- 16.2.2 Grayscale Image Files PGM -- 16.2.3 Color Image Files PPM -- 16.3 Edge Detection -- 16.4 Motion Detection -- 16.5 Color Spaces -- 16.5.1 Red Green Blue (RGB) -- 16.5.2 Hue Saturation Intensity (HSI) -- 16.5.3 Normalized RGB (RGB).; 16.6 RBG-to-HSI Conversion -- 16.7 Color Object Detection -- 16.8 Image Segmentation -- 16.9 Image Coordinates versus World Coordinates -- 16.10 Tasks -- 17 Automotive Systems -- 17.1 Autonomous Automobiles -- 17.2 Drive-By-Wire and Safety Systems -- 17.2.1 Drive-By-Wire -- 17.2.2 Safety Systems -- 17.3 Computer Vision for Autonomous Driving -- 17.4 OpenCV and KITTI -- 17.5 ROS -- 17.5.1 ROS Concepts and Core Functions -- 17.5.2 ROS Packages -- 17.6 Carla Simulator -- 17.7 Lane Detection -- 17.7.1 Edge Detection -- 17.7.2 Image Tiling -- 17.7.3 Line Segment Clustering -- 17.8 Vehicle Recognition and Tracking -- 17.8.1 Symmetry Operators -- 17.8.2 Vehicle Tracking -- 17.9 Automatic Parking -- 17.10 Autonomous Formula-SAE -- 17.11 Autonomous Shuttle Bus -- 17.12 Tasks -- Artificial Intelligence -- 18 AI Concepts -- 18.1 Software Architecture -- 18.2 Behavior-Based Systems -- 18.3 Behavior Framework -- 18.4 Behavior-Based Applications -- 18.4.1 Clustering -- 18.4.2 Tracking -- 18.4.3 Predator-Prey -- 18.5 Tasks -- 19 Neural Networks -- 19.1 Neural Network Principles -- 19.2 Feed-Forward Networks -- 19.3 Backpropagation -- 19.4 Neural Network Examples -- 19.5 Neural Robot Control -- 19.6 Tasks -- 20 Genetic Algorithms -- 20.1 Genetic Algorithm Principles -- 20.1.1 Genotype and Phenotype -- 20.1.2 GA Execution -- 20.1.3 Fitness Function -- 20.1.4 Selection Mechanisms -- 20.2 Genetic Operators -- 20.2.1 Crossover -- 20.2.2 Mutation -- 20.2.3 Encoding -- 20.3 Evolution Example -- 20.4 Implementing Genetic Algorithms -- 20.5 Genetic Robot Control -- 20.6 Starman -- 20.7 Evolving Walking Gaits -- 20.7.1 Splines -- 20.7.2 Control Algorithm and Feedback -- 20.7.3 Controller Evolution -- 20.7.4 Controller Assessment -- 20.7.5 Evolved Walking Gaits -- 20.8 Tasks -- 21 Deep Learning -- 21.1 TensorFlow and Caffe -- 21.2 Carolo-Cup Competition.; 21.3 Traffic Sign Recognition -- 21.4 End-To-End Learning for Autonomous Driving -- 21.5 Tasks -- 22 Outlook -- Outline placeholder -- chApp1 -- Appendix A: RoBIOS Library -- A.1 LCD Output -- A.2 Keys -- A.3 Camera -- A.4 Image Processing -- A.5 System Functions -- A.6 Timer -- A.7 USB/Serial Communication -- A.8 Audio -- A.9 Distance Sensors -- A.10 Servos and Motors -- A.11 Omega Driving Interface -- A.12 Digital and Analog Input/Output -- A.13 IR Remote Control -- A.14 Radio Communication -- A.15 Multitasking -- A.16 Simulation only -- Appendix B: EyeBot-IO7 Interface -- Appendix C: Hardware Description Table -- Appendix D: Robot Programming Projects -- &amp -- texmath1 -- D.2 Driving -- &amp -- texmath1 -- D.3 Sensors -- &amp -- texmath1 -- D.4 Navigation -- &amp -- texmath1 -- D.5 Robot Groups -- D.6 Submarines -- D.7 Manipulators.