Embedded Robotics

Mobile Robot Design and Applications with Embedded Systems

Thomas Bräunl

    This book presents a unique combination of Embedded Systems and Mobile Robots from introductory to intermediate level. It is structured in three parts, dealing with Embedded Systems (hardware and software design, actuators, sensors, PID control, multitasking), Mobile Robots (driving, balancing, walking, and flying robots), and Robot Applications (Mapping, Robot Soccer, Genetic Algorithms, Neural Networks, Behavior-Based Systems, and Simulation). It can be used as a textbook for courses in Computer Science, Computer Engineering, IT, or Mechatronics, as well as a guide for robot hobbyists and researchers.
The book is a practical „hands-on“ training guide in embedded systems and mobile robots. All important aspects of Embedded Systems are presented in the interesting context of Mobile Robots.

Contents

PART I: EMBEDDED SYSTEMS
1 Introduction
2 Programming Tools
3 RoBIOS Operating System
4 Multitasking
5 Sensors
6 Actuators
7 Control
8 Real-Time Image Processing
9 Wireless Communication

PART II: MOBILE ROBOT DESIGN
10 Driving Robots
11 Omni-Directional Robots
12 Balancing Robots
13 Walking Robots
14 Autonomous Planes
15 EyeSim Simulator

PART III: MOBILE ROBOT APPLICATIONS
16 Maze Exploration
17 Map Generation
18 Robot Soccer
19 Neural Networks
20 Genetic Algorithms
21 Genetic Programming
22 Behavior-Based Systems
23 Evolution of Walking Gaits
24 Outlook