Robot Programming: A Practical Guide to Behavior-Based Robotics

Overview

MASTER ROBOT PROGRAMMING ITH YOUR OWN FREE VIRTUAL 'BOT!

This ingenious book/Web site partnership teaches the skills you need to program a robot — and gives you a virtual robot waiting online to perform your commands and test your programming expertise. You don't need to know either robotics or programming to get started!

Using an intuitive method, Robot Programming deconstructs robot control into simple and distinct behaviors that are easy to ...

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Robot Programming: A Practical Guide to Behavior-Based Robotics

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Overview

MASTER ROBOT PROGRAMMING ITH YOUR OWN FREE VIRTUAL 'BOT!

This ingenious book/Web site partnership teaches the skills you need to program a robot — and gives you a virtual robot waiting online to perform your commands and test your programming expertise. You don't need to know either robotics or programming to get started!

Using an intuitive method, Robot Programming deconstructs robot control into simple and distinct behaviors that are easy to program and debug for inexpensive microcontrollers with little memory. Once you’ve mastered programming your online 'bot, you can easily adapt your programs for use in physical robots.

Though Robot Programming smoothes the path to acquiring skills in this arcane art, it does not reduce it to simplistics. With this resource, you can open the door to all the complexity, sophistication, versatility, and robustness that it is possible for robot behavior to exhibit.

WHAT DO YOU WANT YOUR ROBOT TO DO?

Robot Programming's hands-on approach to behavior-based robotics—

* Teaches you intuitively, with a system that integrates explanation, code examples, and exercises using an online robot simulator

* Demonstrates programming for mobile robots

* Gives you the tools to combine sensors with robot skills

* Shows you how to develop new robot behaviors by manipulating old ones and adjusting programming parameters

* Provides examples of programming for object seeking, object avoidance, decision-making, and much more

* Leads you to advanced strategies for designing your own behavior-based systems from scratch

* Introduces the history and theory behind behavior-based programming

* Requires no background in either programming or robotics

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Editorial Reviews

Sci-Tech Book News
Jones, one of the inventors of the first widely adopted consumer robot,introduces the history and theory behind behavior-based programming, teaches skills needed for programming a robot, and provides readers with a virtual robot on a web site to test programming expertise. Using

an intuitive method, he deconstructs robot control into simple behaviors that are easy to program and debug for inexpensive microcontrollers with little memory. No background is required in programming or robotics.

Sci-Tech Book News
Jones, one of the inventors of the first widely adopted consumer robot,introduces the history and theory behind behavior-based programming, teaches skills needed for programming a robot, and provides readers with a virtual robot on a web site to test programming expertise. Using

an intuitive method, he deconstructs robot control into simple behaviors that are easy to program and debug for inexpensive microcontrollers with little memory. No background is required in programming or robotics.

From The Critics
Jones, one of the inventors of the first widely adopted consumer robot, introduces the history and theory behind behavior-based programming, teaches skills needed for programming a robot, and provides readers with a virtual robot on a web site to test programming expertise. Using an intuitive method, he deconstructs robot control into simple behaviors that are easy to program and debug for inexpensive microcontrollers with little memory. No background is required in programming or robotics.
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Product Details

  • ISBN-13: 9780071427784
  • Publisher: McGraw-Hill Professional Publishing
  • Publication date: 12/12/2003
  • Edition number: 1
  • Pages: 293
  • Sales rank: 1,293,775
  • Product dimensions: 7.50 (w) x 9.30 (h) x 0.70 (d)

Meet the Author

Joe Jones (Acton, MA) is a veteran roboticist, currently employed by iRobot. He is the co-author of Mobile Robots: Inspiration to Implementation, as well as numerous articles in the field of robotics. He is one of the inventors of the Roomba(R) Robotic FloorVac, the first widely adopted consumer robot.

Daniel Roth (Cambridge, MA) is a master's degree candidate in computer science at the Massachusetts Institute of Technology, specializing in autonomous robot navigation.

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Table of Contents

Preface xi
Acknowledgments xvii
Introduction xix
1 Autonomous Mobile Robots 1
Example: Collection Task 1
Robot Defined 6
Sensing 8
Actuation 10
Intelligence 11
Mobile and Immobile Robots 11
Responding to the Challenge 15
Robot's World View 16
Summary 20
Exercises 21
2 Control Systems 25
Open and Closed Loop Control 25
Position Control Example 30
Control System Catastrophe 31
Control System Stability 33
Saturation, Backlash, and Dead Zones 36
Open Loop Controllers with Parameters and State 39
Bang-Bang Controllers 40
Hysteresis 42
Summary 44
Exercises 45
3 Behaviors 49
Triggers and Control Systems 49
Servo and Ballistic Behaviors 51
Implementing Servo Behaviors 52
Finite State Analysis 57
FSM Example: Escape 63
FSM Implementation 67
Overloading Behaviors 70
Summary 70
Exercises 71
4 Arbitration 75
Fixed Priority Arbitration 75
When to Arbitrate 79
Graceful Degradation 83
The Path Not Taken 87
Sensor Qualification 89
Other Arbitration Schemes 92
Variable Priority 92
Subsumption Architecture 93
Motor Schema 97
Least Commitment Arbitration 100
Summary 102
Exercises 103
5 Programming 107
Homing Based on Differential Detectors 107
Homing Based on Absolute Position 112
Avoidance with Differential Detectors 117
Anti-Canyoning 120
Wall-Following with Contact Sensors 124
Wall-Following with Ranging Sensors 126
Wall-Following with Proximity Sensors 127
Confinement and Cliff Behaviors 128
Thrashing 130
Escape 133
Area Coverage 134
Deterministic Coverage 134
Random Coverage 135
Generalized Differential Response 139
Avoidance and Homing Using Vectors 143
Debugging 145
Summary 146
Exercises 147
6 Decomposition 151
SodaBot 152
Stating the Problem 152
Accomplishing the Task Simply 156
Visit Likely Spots 157
Identify Soda Cans 157
Abandoned versus Active Sodas 158
Can Pickup 160
Navigation 161
Identify, Deposit, and Recharge 162
Avoid Hazards 163
Mechanical Platform 164
Which Questions? 164
Which Sensors? 165
Building Behaviors 167
SodaBot Behaviors 167
Robot Recap 171
Principles 172
First Do No Harm 172
Tilt the Playing Field 172
Prefer Robust Chaos to Brittle Determinism 172
Summary 173
Exercises 174
7 Physical Interfaces 177
Collision Sensors 179
Bumpers 180
Stall Sensors 183
Stasis Sensing 185
Avoidance Sensors 185
Infrared Proximity Sensors 186
Infrared Range Sensors 188
Sonar Sensors 189
Range-Sensor Considerations 190
Homing Sensors 192
Photocells, Phototransistors, and Photodiodes 192
Coded Beacons 194
Pyroelectric Sensors 196
Color Blob Sensors 196
Magnetic Sensors 197
Dead Reckoning and Navigation Sensors 197
Shaft Encoders 197
Inertial Sensors 199
Compasses 199
GPS 201
Summary 201
Exercises 202
8 Implementation 203
RoCK Specifications: The Goal of a New Machine 203
Programming Specifications 208
RoCK's Behaviors 211
Dance 211
IR_follow and VL_follow 212
Boston 212
Cruise 212
Escape 212
Joystick 213
Wire 213
Beeper Control 213
The Code 214
Scheduler 214
Behavior Format 216
Arbiter 222
Summary 226
Exercises 226
9 Future Robots 229
Reply Hazy--Ask Again Later 230
Which Path? 232
Future Actuation 233
Power 233
Motors 234
Manipulation 235
Locomotion 237
Future Intelligence 237
Robot Control 238
Learning 238
Future Sensing 239
Vision 240
Acoustic Sensing 240
Other Sensors 241
Exercise 242
A Mathematics of Differential Drive 243
Pose 243
Dead Reckoning 245
Differential Drive 249
London Fog 252
Limits of Dead Reckoning 253
Summary 254
Exercises 256
B BSim 259
BSim Aspects 259
The Simulator and Time 259
The World 260
Fantasy Mode and Noise 261
Latency 261
A Simple Robot 261
Behaviors and Arbitration 262
Cruise 263
Escape 263
Avoid 263
Wall Follow 264
Home 264
Anti-Moth 265
Dark-Push 265
London 265
Gizmo 265
Remote 266
Tasks 266
Collection Task 266
Gizmo Task 266
London Task 267
Simulations 267
Collection Simulation 267
London Simulation 267
Gizmo Simulation 267
User Interface 268
World Editor 268
The Robot Programmer 268
C Frequently Used Functions 271
Clip 271
Leaky Integrator 272
Running Average 274
Angle Computations 275
D Pseudocode 279
E Bibliography 283
Index 285
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