Autonomous Land Vehicles

摘要

This textbook results from a series of lectures concerning autonomous mobile robots which have been held at the University of Kaiserslautern between 1999 and 2009. Methods and algorithms are introduced which can be used for developing complex autonomous land vehicles. Starting from historical remarks and application areas of service robots, the vehicle kinematics modeling is introduced and examples of the drive kinematics of different vehicles are given. Thereafter, typical sensors and sensor systems are described which are used to determine the internal state of the machine and its operational environment. Localization, i.e the determination where the robot is, is still a difficult problem. In the textbook, several methods are discussed which can be used under specific preconditions. Map building as well as navigation strategies complement the set of basic methods. The last two chapters deal with the questions of how to compile the above mentioned methods using powerful control architecture and what frameworks to use to support the development process.