Build Autonomous Mobile Robot from Scratch Using Ros: Simulation and Hardware

Start from scratch and build a variety of features for autonomous mobile robots both in simulation and hardware. This book will show you how to simulate an autonomous mobile robot using ROS and then develop its hardware implementation.

You'll start by gaining an understanding of the basic theoretical concepts underlying the development of autonomous robots, including history, mathematics, electronics, mechanical aspects, 3D modelling, 3D printing, Linux, and programming. In subsequent chapters, you will learn how to describe kinematics, simulate and visualize the robot, how to interface Arduino with ROS, tele-operate the robot, perform mapping, autonomous navigation, add additional sensors, sensor fusion, laser scan matching, web interface, and more. Not only will you learn theoretical aspects, you'll also review the hardware realization of mobile robots.

Projects start with a very basic two-wheeled mobile robot and progress to complex features such as mapping, navigation, sensor fusion, autodocking, and web interface. Upon completing this book, you'll have incorporated important robot algorithms including SLAM, Path Finding, Localization, and Kalman Filters - and you will be ready to start designing and building your own autonomous robots.

What You Will Learn

• Design and build your customized physical robot with autonomous navigation capability
• Create a map of your house using the robot's lidar scanner
• Command the robot to go to any accessible location on the map
• Interact with the robot using a mobile app, joystick, keyboard, push-button, or remote computer
• Monitor robot updates via LCD, a mobile app, sound, and status LEDs
• Automate delivery of small payloads and return to home base
• Utilize autodocking to home base for battery charging
• Leverage sensor fusion to improve accuracy
• Interface with the robot via the Web to monitor and control it remotely

Who This Book Is For

Complete beginners who want to build customized robots from scratch. No experience is expected, although basic programming knowledge could be handy.

從零開始建立各種自主移動機器人的功能，包括在模擬和硬體上。本書將向您展示如何使用ROS模擬自主移動機器人，然後開發其硬體實現。

您將首先瞭解自主機器人開發的基本理論概念，包括歷史、數學、電子學、機械結構、3D建模、3D打印、Linux和編程。在接下來的章節中，您將學習如何描述運動學、模擬和可視化機器人，如何將Arduino與ROS接口，遠程操作機器人，進行地圖繪製、自主導航，添加額外的傳感器、傳感器融合、激光掃描匹配、Web界面等等。您不僅將學習理論方面的知識，還將回顧移動機器人的硬體實現。

項目從非常基本的兩輪移動機器人開始，進展到複雜的功能，如地圖繪製、導航、傳感器融合、自動對接和Web界面。完成本書後，您將融入重要的機器人算法，包括SLAM、路徑規劃、定位和卡爾曼濾波器，並準備好開始設計和建造自己的自主機器人。

您將學到什麼：
- 設計和建造具有自主導航能力的自定義物理機器人
- 使用機器人的激光雷達掃描儀創建您家的地圖
- 命令機器人前往地圖上的任何可訪問位置
- 使用移動應用程序、搖桿、鍵盤、按鈕或遠程計算機與機器人互動
- 通過LCD、移動應用程序、聲音和狀態LED監控機器人更新
- 自動化小型貨物的交付並返回基地
- 利用自動對接功能將機器人返回基地進行電池充電
- 利用傳感器融合提高準確性
- 通過Web界面與機器人進行接口，遠程監控和控制

本書適合對從頭開始建立自定義機器人的完全初學者。不需要任何經驗，但基本的編程知識可能會有所幫助。

Rajesh Subramanian is a robotics engineer by profession and founder of ThunDroids LLP (a robotics manufacturing and service firm). He has more than 7 years of experience in the industry and research area. He holds a post-graduate degree from the University of Queensland, Australia and a research degree from Edith Cowan University, Australia. Rajesh has worked with humanoid service robots, mobile robots, robot arms, and modular robots as part of both industry and academics, and published a research paper on modular robots at the IEEE TENCON 2013 international conference. He also works as a robotics educator and has published courses on autonomous robots.

Rajesh Subramanian是一位專業的機器人工程師，也是ThunDroids LLP（一家機器人製造和服務公司）的創始人。他在這個行業和研究領域已有超過7年的經驗。他擁有澳大利亞昆士蘭大學的碩士學位和澳大利亞伊迪斯考恩大學的研究學位。Rajesh曾在行業和學術界中與人形服務機器人、移動機器人、機器人臂和模塊化機器人一起工作，並在IEEE TENCON 2013國際會議上發表了一篇關於模塊化機器人的研究論文。他還擔任機器人教育工作者，並發布了關於自主機器人的課程。