Artificial Intelligence – An Introduction to Robotics

Arya MirΛογισμικό & κατασκευή λογ/κού

16 Ιουλ 2011 (πριν από 5 χρόνια και 4 μήνες)

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This document gives a short introduction to the basics of robotics in the context of artificial intelli- gence. It describes the very basics of robotics like sensors and effectors, gives an overview on robotic history, and introduces some basic problems encountered in modern robotics. It describes possible so- lutions to those problems without going deeply into theory. The problems introduced are perception, basic pose description, transition and sensor models, localization as a special case of perception (Monte Carlo Localization, Extended Kalman Filter), representation of environment (workspace and configura- tion space), path planning (cell decomposition, potential fields, skeletonization, Voronoi diagrams, and probabilistic roadmaps), movement of robots, and some real-life examples.

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