Introduction to AI Robotics
| Date: 30 April 2011, 05:07
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This book is intended to serve as a textbook for advanced juniors and seniors
and first-year graduate students in computer science and engineering. The
reader is not expected to have taken a course in artificial intelligence (AI),
although the book includes pointers to additional readings and advanced
exercises for more advanced students. The reader should have had at least
one course in object-oriented programming in order to follow the discussions
on how to implement and program robots using the structures described in
this book. These programming structures lend themselves well to laboratory
exercises on commercially available robots, such as the Khepera, Nomad 200
series, and Pioneers. Lego Mindstorms and Rug Warrior robots can be used
for the first six chapters, but their current programming interface and sensor
limitations interfere with using those robots for the more advancedmaterial.
A background in digital circuitry is not required, although many instructors
may want to introduce laboratory exercises for building reactive robots from
kits such as the RugWarrior or the Handy Board.
Introduction to AI Robotics attempts to cover all the topics needed to program
an artificially intelligent robot for applications involving sensing, navigation,
path planning, and navigating with uncertainty. Although machine
perception is a separate field of endeavor, the book covers enough computer
vision and sensing to enable students to embark on a serious robot project
or competition. The book is divided into two parts. Part I defines what are
intelligent robots and introduces why artificial intelligence is needed. It covers
the “theory” of AI robotics, taking the reader through a historical journey
from the Hierarchical to the Hybrid Deliberative/Reactive Paradigm for organizing
intelligence. The bulk of the seven chapters is concerned with the
Reactive Paradigm and behaviors. A chapter on sensing and programming
techniques for reactive behaviors is included in order to permit a class to get
xviii Preface
a head start on a programming project. Also, Part I covers the coordination
and control of teams of multi-agents. Since the fundamental mission of a
mobile robot involves moving about in the world, Part II devotes three chapters
to qualitative and metric navigation and path planning techniques, plus
work in uncertainty management. The book concludes with an overview of
how advances in computer vision are now being integrated into robots, and
how successes in robots are driving the web-bot and know-bot craze.
Since Introduction to AI Robotics is an introductory text, it is impossible to
cover all the fine work that has been in the field. The guiding principle has
been to include only material that clearly illuminates a specific topic. References
to other approaches and systems are usually included as an advanced
reading question at the end of the chapter or as an end note. Behavior-based
Robotics10 provides a thorough survey of the field and should be an instructor’s
companion.
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