Robot Programming A Practical Guide to

* Teaches the concepts of behavior-based programming through text, programming examples, and a unique online simulator robot * Explains how to design new behaviors by manipulating old ones and adjusting programming * Does not assume reader familiarity with robotics or programming languages * Includes a section on designing your own behavior-based system from scratch

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.

Preface

xi

Acknowledgments

xvii

Introduction

xix

Autonomous Mobile Robots

1

(24)

Example: Collection Task

1

(5)

Robot Defined

6

(2)

Sensing

8

(2)

Actuation

10

(1)

Intelligence

11

(9)

Mobile and Immobile Robots

11

(4)

Responding to the Challenge

15

(1)

Robot's World View

16

(4)

Summary

20

(1)

Exercises

21

(4)

Control Systems

25

(24)

Open and Closed Loop Control

25

(5)

Position Control Example

30

(1)

Control System Catastrophe

31

(2)

Control System Stability

33

(3)

Saturation, Backlash, and Dead Zones

36

(3)

Open Loop Controllers with Parameters and State

39

(1)

Bang-Bang Controllers

40

(2)

Hysteresis

42

(2)

Summary

44

(1)

Exercises

45

(4)

Behaviors

49

(26)

Triggers and Control Systems

49

(2)

Servo and Ballistic Behaviors

51

(1)

Implementing Servo Behaviors

52

(5)

Finite State Analysis

57

(6)

FSM Example: Escape

63

(4)

FSM Implementation

67

(3)

Overloading Behaviors

70

(1)

Summary

70

(1)

Exercises

71

(4)

Arbitration

75

(32)

Fixed Priority Arbitration

75

(4)

When to Arbitrate

79

(4)

Graceful Degradation

83

(4)

The Path Not Taken

87

(2)

Sensor Qualification

89

(3)

Other Arbitration Schemes

92

(10)

Variable Priority

92

(1)

Subsumption Architecture

93

(4)

Motor Schema

97

(3)

Least Commitment Arbitration

100

(2)

Summary

102

(1)

Exercises

103

(4)

Programming

107

(44)

Homing Based on Differential Detectors

107

(5)

Homing Based on Absolute Position

112

(5)

Avoidance with Differential Detectors

117

(3)

Anti-Canyoning

120

(4)

Wall-Following with Contact Sensors

124

(2)

Wall-Following with Ranging Sensors

126

(1)

Wall-Following with Proximity Sensors

127

(1)

Confinement and Cliff Behaviors

128

(2)

Thrashing

130

(3)

Escape

133

(1)

Area Coverage

134

(5)

Deterministic Coverage

134

(1)

Random Coverage

135

(4)

Generalized Differential Response

139

(4)

Avoidance and Homing Using Vectors

143

(2)

Debugging

145

(1)

Summary

146

(1)

Exercises

147

(4)

Decomposition

151

(26)

SodaBot

152

(1)

Stating the Problem

152

(4)

Accomplishing the Task Simply

156

(8)

Visit Likely Spots

157

(1)

Identify Soda Cans

157

(1)

Abandoned versus Active Sodas

158

(2)

Can Pickup

160

(1)

Navigation

161

(1)

Identify, Deposit, and Recharge

162

(1)

Avoid Hazards

163

(1)

Mechanical Platform

164

(1)

Which Questions?

164

(1)

Which Sensors?

165

(2)

Building Behaviors

167

(1)

SodaBot Behaviors

167

(4)

Robot Recap

171

(1)

Principles

172

(1)

First Do No Harm

172

(1)

Tilt the Playing Field

172

(1)

Prefer Robust Chaos to Brittle Determinism

172

(1)

Summary

173

(1)

Exercises

174

(3)

Physical Interfaces

177

(26)

Collision Sensors

179

(6)

Bumpers

180

(3)

Stall Sensors

183

(2)

Stasis Sensing

185

(1)

Avoidance Sensors

185

(7)

Infrared Proximity Sensors

186

(2)

Infrared Range Sensors

188

(1)

Sonar Sensors

189

(1)

Range-Sensor Considerations

190

(2)

Homing Sensors

192

(5)

Photocells, Phototransistors, and Photodiodes

192

(2)

Coded Beacons

194

(2)

Pyroelectric Sensors

196

(1)

Color Blob Sensors

196

(1)

Magnetic Sensors

197

(1)

Dead Reckoning and Navigation Sensors

197

(4)

Shaft Encoders

197

(2)

Inertial Sensors

199

(1)

Compasses

199

(2)

GPS

201

(1)

Summary

201

(1)

Exercises

202

(1)

Implementation

203

(26)

RoCK Specifications: The Goal of a New Machine

203

(5)

Programming Specifications

208

(3)

RoCK's Behaviors

211

(2)

Dance

211

(1)

IR_follow and VL_follow

212

(1)

Boston

212

(1)

Cruise

212

(1)

Escape

212

(1)

Joystick

213

(1)

Wire

213

(1)

Beeper Control

213

(1)

The Code

214

(12)

Scheduler

214

(2)

Behavior Format

216

(6)

Arbiter

222

(4)

Summary

226

(1)

Exercises

226

(3)

Future Robots

229

(14)

Reply Hazy---Ask Again Later

230

(2)

Which Path?

232

(1)

Future Actuation

233

(4)

Power

233

(1)

Motors

234

(1)

Manipulation

235

(2)

Locomotion

237

(1)

Future Intelligence

237

(2)

Robot Control

238

(1)

Learning

238

(1)

Future Sensing

239

(3)

Vision

240

(1)

Acoustic Sensing

240

(1)

Other Sensors

241

(1)

Exercise

242

(1)

A Mathematics of Differential Drive

243

(16)

Pose

243

(2)

Dead Reckoning

245

(4)

Differential Drive

249

(3)

London Fog

252

(1)

Limits of Dead Reckoning

253

(1)

Summary

254

(2)

Exercises

256

(3)

B BSim

259

(12)

BSim Aspects

259

(3)

The Simulator and Time

259

(1)

The World

260

(1)

Fantasy Mode and Noise

261

(1)

Latency

261

(1)

A Simple Robot

261

(1)

Behaviors and Arbitration

262

(4)

Cruise

263

(1)

Escape

263

(1)

Avoid

263

(1)

Wall Follow

264

(1)

Home

264

(1)

Anti-Moth

265

(1)

Dark-Push

265

(1)

London

265

(1)

Gizmo

265

(1)

Remote

266

(1)

Tasks

266

(1)

Collection Task

266

(1)

Gizmo Task

266

(1)

London Task

267

(1)

Simulations

267

(1)

Collection Simulation

267

(1)

London Simulation

267

(1)

Gizmo Simulation

267

(1)

User Interface

268

(3)

World Editor

268

(1)

The Robot Programmer

268

(3)

C Frequently Used Functions

271

(8)

Clip

271

(1)

Leaky Integrator

272

(2)

Running Average

274

(1)

Angle Computations

275

(4)

D Pseudocode

279

(4)

E Bibliography

283

(2)

Index

285

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Robot Programming A Practical Guide to Behavior-Based Robotics

Summary

Author Biography

Table of Contents

Supplemental Materials