Robot Adventures in Python and C

Description

In this book the author stresses software as the most important topic in modern robotics. In particular the book concentrates on software for mobile robots, and the author demonstrates how inexpensive solutions can be constructed by mounting Raspberry Pi controllers and cameras onto model cars or other simple mechanical drive systems. He introduces EyeSim-VR, a freely available system that can realistically simulate driving, swimming, diving, and walking robots. The emphasis throughout is on algorithm development and all software assignments can run on real robot hardware, as well as on the simulation system presented. The book is suitable for undergraduate and graduate courses in artificial intelligence and robotics, and also for self-study by practitioners. All software used in this book, including all example programs, can be freely downloaded online, with native applications for MacOS, Windows, Linux, and Raspberry Pi. PREFACE CONTENTS 1 ROBOT HARDWARE 1.1 Actuators 1.2 Sensors 1.3 User Interface 1.4 Processor 1.5 Complete Robot 1.6 Communication 1.7 Simulation 1.8 Tasks 2 ROBOT SOFTWARE 2.1 Software Installation 2.2 First Steps in Python 2.3 First Steps in C 2.4 Driving a Square in Python 2.5 Driving a Square in C or C++ 2.6 SIM Scripts and Environment Files 2.7 Display and Input Buttons 2.8 Distance Sensors 2.9 Camera 2.10 Robot Communication 2.11 Multitasking 2.12 Using an IDE 2.13 Tasks 3 DRIVING ALGORITHMS 3.1 Random Drive 3.2 Driving to a Target Position 3.3 Turn and Drive Straight 3.4 Circle 3.5 Dog Curve 3.6 Splines 3.7 Tasks 4 LIDAR SENSORS 4.1 Lidar Scans 4.2 Corners and Obstacles 4.3 Tasks 5 ROBOT SWARMS 5.1 Setting up a Swarm 5.2 Follow Me 5.3 Multiple Followers 5.4 Tasks 6 WALL FOLLOWING 6.1 Wall Following Algorithm 6.2 Simplified Wall Following Program 6.3 Tasks 7 ALTERNATIVE DRIVES 7.1 Ackermann Steering 7.2 Omni-directional Drives 7.3 Driving in Terrain 7.4 Tasks 8 BOATS AND SUBS 8.1 Mechanical AUV and Boat Structure 8.2 Specifying an Underwater Structure 8.3 Submarine Diving 8.4 Submarine Movement 8.5 Tasks 9 MAZES 9.1 Micromouse 9.2 Wall Following 9.3 Robustness and Control 9.4 Maze Driving with Lidar 9.5 Recursive Maze Exploration 9.6 Flood-Fill 9.7 Shortest Path 9.8 Tasks 10 NAVIGATION 10.1 Navigation in Unknown Environments 10.2 DistBug Algorithm 10.3 Navigation in Known Environments 10.4 Quadtrees 10.5 Quadtree Implementation 10.6 Shortest Path Algorithm 10.7 Tasks 11 ROBOT VISION 11.1 Camera and Screen Functions 11.2 Edge Detection 11.3 OpenCV 11.4 Color Detection 11.5 Motion Detection 11.6 Tasks 12 STARMAN 12.1 Moving Limbs 12.2 Motion Model 12.3 Genetic Algorithms 12.4 Evolution Run 12.5 Tasks 13 DRIVERLESS CARS 13.1 Autonomous Model Car Competitions 13.2 Carolo-Cup 13.3 Lane Keeping 13.4 Intersections and Zebra Crossings 13.5 Traffic Sign Recognition 13.6 End-to-End Learning 13.7 Tasks 14 FORMULA SAE 14.1 Electric Driving 14.2 Drive by Wire 14.3 Safety System 14.4 Autonomous Driving 14.5 Cone Track Racing 14.6 Tasks 15 OUTLOOK APPENDIX