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Unread 11-04-2010, 22:48
davidthefat davidthefat is offline
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AKA: David Yoon
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Re: Programmers: I Have A Challenge For You

All who are trying this: I have a book for you. http://www.amazon.com/Introduction-A.../dp/026219502X
The TOC:
Code:
Contents
Acknowledgments                                                   xi
Preface                                                          xiii
1    Introduction                                                  1
     1.1 Introduction                                              1
     1.2 An Overview of the Book                                  10
2    Locomotion                                                   13
     2.1 Introduction                                             13
          2.1.1 Key issues for locomotion                         16
     2.2 Legged Mobile Robots                                     17
          2.2.1 Leg configurations and stability                  18
          2.2.2 Examples of legged robot locomotion               21
     2.3 Wheeled Mobile Robots                                    30
          2.3.1 Wheeled locomotion: the design space              31
          2.3.2 Wheeled locomotion: case studies                  38
3    Mobile Robot Kinematics                                      47
     3.1 Introduction                                             47
     3.2 Kinematic Models and Constraints                         48
          3.2.1 Representing robot position                       48
          3.2.2 Forward kinematic models                          51
          3.2.3 Wheel kinematic constraints                       53
          3.2.4 Robot kinematic constraints                       61
          3.2.5 Examples: robot kinematic models and constraints  63
     3.3 Mobile Robot Maneuverability                             67
          3.3.1 Degree of mobility                                67
          3.3.2 Degree of steerability                            71
          3.3.3 Robot maneuverability                             72
viii                                                                             Contents
     3.4  Mobile Robot Workspace                                                       74
          3.4.1 Degrees of freedom                                                     74
          3.4.2 Holonomic robots                                                       75
          3.4.3 Path and trajectory considerations                                     77
     3.5  Beyond Basic Kinematics                                                      80
     3.6  Motion Control (Kinematic Control)                                           81
          3.6.1 Open loop control (trajectory-following)                               81
          3.6.2 Feedback control                                                       82
 4   Perception                                                                        89
     4.1 Sensors for Mobile Robots                                                     89
          4.1.1 Sensor classification                                                  89
          4.1.2 Characterizing sensor performance                                      92
          4.1.3 Wheel/motor sensors                                                    97
          4.1.4 Heading sensors                                                        98
          4.1.5 Ground-based beacons                                                  101
          4.1.6 Active ranging                                                        104
          4.1.7 Motion/speed sensors                                                  115
          4.1.8 Vision-based sensors                                                  117
     4.2 Representing Uncertainty                                                     145
          4.2.1 Statistical representation                                            145
          4.2.2 Error propagation: combining uncertain measurements                   149
     4.3 Feature Extraction                                                           151
          4.3.1 Feature extraction based on range data (laser, ultrasonic, vision-based
                ranging)                                                              154
          4.3.2 Visual appearance based feature extraction                            163
 5   Mobile Robot Localization                                                        181
     5.1 Introduction                                                                 181
     5.2 The Challenge of Localization: Noise and Aliasing                            182
          5.2.1 Sensor noise                                                          183
          5.2.2 Sensor aliasing                                                       184
          5.2.3 Effector noise                                                        185
          5.2.4 An error model for odometric position estimation                      186
     5.3 To Localize or Not to Localize: Localization-Based Navigation versus
          Programmed Solutions                                                        191
     5.4 Belief Representation                                                        194
          5.4.1 Single-hypothesis belief                                              194
          5.4.2 Multiple-hypothesis belief                                            196
Contents                                                                       ix
      5.5   Map Representation                                               200
            5.5.1 Continuous representations                                 200
            5.5.2 Decomposition strategies                                   203
            5.5.3 State of the art: current challenges in map representation 210
      5.6   Probabilistic Map-Based Localization                             212
            5.6.1 Introduction                                               212
            5.6.2 Markov localization                                        214
            5.6.3 Kalman filter localization                                 227
      5.7   Other Examples of Localization Systems                           244
            5.7.1 Landmark-based navigation                                  245
            5.7.2 Globally unique localization                               246
            5.7.3 Positioning beacon systems                                 248
            5.7.4 Route-based localization                                   249
      5.8   Autonomous Map Building                                          250
            5.8.1 The stochastic map technique                               250
            5.8.2 Other mapping techniques                                   253
 6    Planning and Navigation                                                257
      6.1 Introduction                                                       257
      6.2 Competences for Navigation: Planning and Reacting                  258
            6.2.1 Path planning                                              259
            6.2.2 Obstacle avoidance                                         272
      6.3 Navigation Architectures                                           291
            6.3.1 Modularity for code reuse and sharing                      291
            6.3.2 Control localization                                       291
            6.3.3 Techniques for decomposition                               292
            6.3.4 Case studies: tiered robot architectures                   298
Bibliography                                                                 305
      Books                                                                  305
      Papers                                                                 306
      Referenced Webpages                                                    314
      Interesting Internet Links to Mobile Robots                            314
Index

As you can see, it covers everything from the Perception to Logic and even drive systems
__________________
Do not say what can or cannot be done, but, instead, say what must be done for the task at hand must be accomplished.

Last edited by davidthefat : 11-04-2010 at 22:51.
 


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