Titlebook: Robotics and Control; Fundamental Algorith Peter Corke Textbook 2022 The Editor(s) (if applicable) and The Author(s), under exclusive licen

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小丑

NavigationRobot navigation is the problem of guiding a robot towards a goal. The human approach to navigation is to make maps and erect signposts, and at first glance it seems obvious that robots should operate the same way.

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LocalizationIn our discussion of map-based navigation we assumed that the robot had a means of knowing its position. In this chapter we discuss some of the common techniques used to estimate the location of a robot in the world―a process known as localization.

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978-3-030-79178-0The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerl

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Representing Position and Orientationo call this single number a .. We use a vector, a denominate number plus a direction, to specify a location: . 2 m .. We may also want to know the orientation of the object: . 2?m .. The combination of position and orientation we call ..

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Time and Motion change as a function of time. Section 3.1 introduces the derivative of time-varying position, orientation and pose and relates that to concepts from mechanics such as velocity and angular velocity. Discrete-time approximations to the derivatives are covered which are useful for computer implementation of algorithms such as inertial navigation.