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Jingdong book

基于视觉的自主机器人导航

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Jingdong book

基于视觉的自主机器人导航

Name: 基于视觉的自主机器人导航
Brand: Jingdong book
SKU: 3118197131
Price: 46.77 USD
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Content Description

移动机器人自主导航是机器人领域的热点研究内容。本书首先介绍了基于机器视觉感知机制的自主移动机器人导航的理论与研究，重点介绍了基于地图、地图构建以及无地图环境下的基于视觉传感器的机器人导航算法，并给出了实际应用中基于视觉的机器人先进导航算法的实现。本书详细阐述了实际应用中基于视觉的自主导航算法以及SLAM问题，提出了利用视觉感知如何实现子目标驱动的导航概念，提出了利用模糊逻辑进行基于视觉的机器人路径跟踪概念，以及如何利用基于微型控制器的传感器系统研制实验室环境下的低成本机器人。
《基于视觉的自主机器人导航》可作为从事机器人研究，尤其是移动机器人方面的研究人员的参考书，也可作为高等院校自动化、计算机等相关专业研究生以及教师的参考用书。

Catalogue

译者序

原书前言

第1章移动机器人导航

1.1自主移动机器人导航

1.2为何要视觉导航

1.3基于视觉的导航

1.3.1基于视觉的室内导航

1.3.1.1基于地图的导航

1.3.1.2基于地图构建的导航

1.3.1.3无地图导航

1.3.2基于视觉的室外导航

1.4研究现状

1.5障碍物检测和避障

1.6本章小结

参考文献

第2章移动机器人的外设接口

2.1简介

2.2用于视觉系统与现有机器人接口的PIC微控制器系统

2.3KOALA机器人与PC和视觉系统构成的集成系统

2.4实际性能评估

2.5本章小结

参考文献

第3章利用子目标的基于视觉的移动机器人导航

3.1简介

3.2硬件设置

3.3目标导向的两层导航机制

3.4第一层中基于图像处理的环境探索

3.5最短路径计算和子目标生成

3.6第二层中基于红外的导航

3.7实际性能评估

3.8本章小结

参考文献

第4章基于视觉的移动机器人自主开发

4.1简介

4.2基于视觉的低成本移动机器人的研制开发

4.3基于微控制器的机器人感知系统的研制开发

4.3.1具有动态增强功能的红外测距系统

4.3.1.1动态测距增强算法

4.3.1.2实验结果

4.3.2采用开关模式同步检测技术的光学接近检测器

4.3.2.1基于PIC微控制器的光学接近检测器

4.3.2.2开关模式同步检测技术

4.3.2.3实验结果

4.4客户端—服务器工作模式下的内网连接

4.5本章小结

参考文献

第5章基于视觉的移动机器人导航算法的实现示例

5.1简介

5.2示例

5.3示例

5.4示例

5.5示例

5.6示例

5.7示例

5.8示例

5.9示例

5.10示例

5.11示例

5.12本章小结

参考文献

第6章基于视觉的移动机器人路径跟踪

6.1简介

6.2所提方法概述

6.3基于视觉的机器人模糊导航系统

6.4基于红外传感器的模糊避障算法

6.5实际性能评估

6.6本章小结

参考文献

第7章移动机器人的SLAM

7.1简介

7.2基于EKF的随机SLAM算法

7.3结合模糊神经网络模型的基于EKF的SLAM算法

7.4模糊神经网络架构及基于粒子群优化（PSO）算法的训练方法

7.4.1模糊神经网络架构169 7.4.2利用PSO训练模糊神经网络模型

7.4.3性能评估172 7.5利用DE优化算法训练模糊监督器

7.5.1性能评估

7.6本章小结

参考文献

第8章基于视觉的移动机器人SLAM

8.1简介

8.2差动驱动KOALA机器人的动态状态模型

8.3基于视觉感知的图像特征识别、特征跟踪和每个特征的3D距离计算

8.4实际性能评估

8.5本章小结

参考文献

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