Programming Mobile Robots with Aria and Player

A Guide to C++ Object-Oriented Control

By: Amanda Whitbrook

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Paperback | 16 December 2009

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132 Pages

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22.86 x 15.24 x 0.64

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"Programming Mobile Robots with Aria and Player" provides a guide to creating object-oriented C++ programs for robots using the Player and Aria APIs within a Linux environment. The book is supported throughout with examples, diagrams, sample programs, and configuration files. MobileRobot's Pioneers are used as vehicles throughout the book, but most of the techniques and programs that are demonstrated for Player are applicable to the other makes and models that the API supports. In addition, the Aria section is also appropriate for other robots made by MobileRobots.

The book discusses how to install the various pieces of software needed and also describes how to: configure robots; control robots remotely; program each individual sensor and actuator; and set up and control robots.

"Programming Mobile Robots with Aria and Player" serves as a complete text for undergraduate and postgraduate robotics programming modules, and is also an invaluable reference source for students, teachers and researchers.

Additional material for this book can be found at http://extras.springer.com.

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Introduction and Installations	p. 1
The Client-Server Paradigm	p. 1
Software for Pioneer Robot Control	p. 1
Pioneer Robot Devices	p. 4
MobileRobots Software Installations	p. 5
ARIA	p. 6
Mapper3Basic	p. 7
MobileSim	p. 7
ACTS	p. 7
Player and Stage Installations	p. 8
Prerequisites	p. 9
Player - Default Location	p. 9
Player - Selected Location	p. 10
Selecting Drivers	p. 11
Stage - Default Location	p. 11
Stage - Selected Location	p. 12
Programming with the ARIA API	p. 13
Getting Started	p. 13
Compiling Programs	p. 13
Connecting to a Robot	p. 14
Instantiating and Adding Devices	p. 16
Ranged Devices	p. 16
Non-ranged Devices	p. 18
Reading and Controlling the Devices	p. 18
The Motors	p. 18
The Sonar Sensors	p. 21
The Laser Sensor	p. 22
The Bumpers	p. 24
The 5D Arm	p. 27
The 2D Gripper	p. 30
The Pan-tilt-zoom Camera	p. 33
Other MobileRobots Inc. Resources	p. 37
ACTS Software	p. 37
Training the Channels	p. 37
Programming ACTS Using ARIA	p. 44
MobileSim	p. 46
Mapper3Basic	p. 49
Using ARIA Subclasses	p. 53
Creating and Using ArAction Subclasses	p. 53
Creating and Using ArActionGroup Subclasses	p. 57
Creating and Using ArMode Subclasses	p. 60
Programming with Player	p. 63
Player Configuration Files	p. 63
Using PlayerViewer	p. 66
Programming with the Player C++ Client Library	p. 68
Compiling Programs	p. 68
Connecting to a Robot	p. 70
Instantiating and Adding Devices	p. 73
Reading and Controlling the Devices	p. 73
The Motors	p. 74
The Sonar Sensors	p. 75
The Laser Sensor	p. 75
The Bumpers	p. 77
The 5D Arm	p. 79
The 2D Gripper	p. 83
The Pan-tilt-zoom Camera	p. 85
The Virtual Blob Finder Device	p. 86
Using the Blob Finder with ACTS	p. 91
Stage Simulations	p. 93
Introduction	p. 93
Creating World Files	p. 93
Creating Configuration Files	p. 101
Running Stage	p. 102
Accelerated Simulations	p. 104
Guide to the Extra Materials	p. 109
Folders	p. 109
Testing the Programs	p. 110
References	p. 111
Index	p. 113
Table of Contents provided by Ingram. All Rights Reserved.

Programming Mobile Robots with Aria and Player

A Guide to C++ Object-Oriented Control

At a Glance

Paperback

Shipping

How to return your order

Defective items

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