Embedded Robotics (Thomas Braunl, 2 ed, 2006)

Index

luminosity 249

M

M68332 47 macro 377

map generation 229 master 85

master and slave tasks 75 maze 217

distance map 225 exploration 217

flood fill algorithm 224 format 179

recursive exploration 221 shortest path 225 wall-following 219

maze format 180 Mecanum drive 5 Mecanum wheel 113 mechanics 267 Mechatronics 3 message 86 message types 87

Micro Mouse Contest 217 micromouse 218, 219 mobile robots 4

model car 105 model plane 151 monitor console 83

monitor program 14, 371 motion detection 248 motor 41, 51, 373

DC 41 feedback 51 schema 337 servo 49 servo motor 49 stepper 48

Motorola M68332 8 multiplexer 155 multi-robot simulation 177 multitasking 69 multithreading 69

N

navigation 197, 206 network demo 376 network weights 280

neural network 143, 328, 333 noise 176

normalized RGB 251

O

obstacle avoidance 276 occupancy grid 232 omni-directional 113 omni-directional kinematics 117 omni-directional robot designs 118 on-off control 51

open loop control 48 operating system 13, 371 optical flow 144 outlook 357

P

P operation 75 particle filters 203 PDF 203 Perceptron 279

perceptual schema 332 phase shift 42

PID 144, 267 control 56 tuning 61

piecewise constant controller 52 piezo gyroscope 139

pixel 33 plane 151

air-speed sensor 154 altimeter 154 compass 154 control system 154 flight path 158 flight program 155 gyroscope 154 inclinometer 154 multiplexer 155

Index

remote control 153 sensor 154

system design 152 user interface 158

PMF 201

polar coordinates 200 polling 84

pose 180

position belief 202 position control 62 position sensitive device 23 positioning 197

potential field 211 power amplifier 46

preemptive multitasking 71 priority 78

probability density function 203 probability mass function 201 program execution 375 programming tools 361 propulsion model 186

PSD 23, 139, 268, 280, 337, 373 pulse width modulation 46, 51 pulse width ratio 46

PWM 51

R

ready 78 real-time 243

recursive exploration 221

References 15, 38, 50, 68, 82, 93, 111, 120, 129, 148, 159, 170, 193, 215, 228, 240, 260, 276, 290, 342, 355, 369

reinforcement learning 284 remote brain 134

remote control 83, 90, 153 remotely operated vehicle 161 restore flash-ROM 367

RGB color model 249, 251 robi file 183

RoBIOS 9, 132, 172, 371 RoBIOS library 377

RoBIOS library functions 384 RoboCup competition 263 robot

456

Ackermann steering 105 android 134

Andy Droid 135

Autonomous underwater vehicle 161 AUV 161

balancing 123 BallyBot 125 biped 134 CIIPS Glory 264 cleaning 104 Crab 132

differential drive 98 driving 97, 113 driving routines 271 Eve 99, 230

flying 151

Four Stooges 105 Hexapod 132 holonomic 113 Jack Daniels 134 Johnny Walker 134 kinematics 117 LabBot 100

Mecanum wheel 113 model car 105 omni-directional 113 plane 151

Rock Steady 147 roles 266

single wheel drive 97 six-legged 131 soccer 263 SoccerBot 100

spline curve driving 273 submarine 161 synchro-drive 103 team structure 266 tracked 102

uneven terrain 348 vessel 161 walking 131

walking sequence 145 wheeled 97, 113 Xenia 104

robot football 263 robot soccer 263

Index

Rock Steady 147 ROM layout 15 ROV 161 running 78

S

salt-and-pepper noise 176 Saphira format 179 scheduling 77

schema 296, 330 segmentation 256 self-configuration 87 semantics 379 semaphores 73

sensor 17, 124, 154, 267 accelerometer 27, 139 air-speed sensor 154 altimeter 154

analog 19 Bayer pattern 33 binary 19

biped robot 142 camera 30, 139, 268 camera data 33 compass 25, 154, 268 demosaicing 34 digital 19

EyeCam 32

gyroscope 28, 139, 154 image processing 243

inclinometer 30, 126, 139, 154, 348 infrared proximity 139

plane 154

position sensitive device 23 PSD 23, 139, 268

shaft encoder 20 strain gauge 139 walking robot 139

Sensor models 187 servo 49, 373 servo motor 49

seven-segment display 288 shaft encoder 20, 267 shell-script 361

shortest path 225

Sieman’s star 244 sim file 182

simulation 123, 171, 235, 274, 345 balancing 123

DynaMechs 351 environment 179 evolution 349 EyeSim 172, 235 feedback 348 GA 349

genetic algorithm 349 inclinometer 348, 349 multiple robots 177 uneven terrain 348 versus reality 226

simulator 334

single wheel drive 97 single-step debugging 367 six-legged robot 131 Sobel operator 246 SoccerBot 100

soft key 371

software architecture 325 solutions 447

speed ramp 62 spline 273, 345

spline curve driving 273 spline joint controller 347 staged evolution 350 startup.hex 369, 376 static balance 140

status screen 371 steady-state error 58 steering control 106 stepper motor 48 strain gauge 139 submarine 161 SubSim 184

actuator models 186 API 185 application 188 environments 192 parameter files 190 sensor models 187 sub file 190

xml files 192

Index

subsumption architecture 326 surface plot 211

swarm intelligence 328, 329 synchro-drive 103 synchronization 73 synchronous serial 20 synthetic image 175 system functions 14, 377

T

task switching 71 thread 69

thruster model 186 timer 80

token ring 84 tools 361 TPU 12 trace 367

tracked robot 102 tracking 337, 340

trajectory calculation 108, 110 trajectory planning 271 turn-key system 369, 376 turtle graphics 200

U

UAV 151

uneven terrain 348, 353 Unix 361

unmanned aerial vehicle 151 user interface 89, 158, 173 user program 14

458

V

V operation 75

variable initialization 375 velocity control 62 Virtual Token Ring 84 v-omega interface 66, 373

W

waitstates 384 walking gait 345 walking robot 131

dynamic balance 143 static balance 140

walking sequence 145, 147 wall-following 219 wandering standpoint 211, 212 wheel encoders 200

wheeled robot 97, 113 wild card 85 Windows 361

wireless communication 83 world coordinates 205, 258 world format 179, 180

X

Xenia 104

xml parameter files 192

Z

zero moment point 143 ZMP 143