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[资源] 【分享】Programming Mobile Robots with Aria and Player.Springer.2010

Programming Mobile Robots with Aria and Player_A Guide to C++ Object-Oriented Control
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Authors(Editors):
Amanda Whitbrook
Publisher: Springer
Pub Date: 2010
Pages: 117
ISBN:
ISBN 978-1-84882-863-6 e-ISBN 978-1-84882-864-3
DOI 10.1007/978-1-84882-864-3
Library of Congress Control Number: 2009940604

Preface
This book is intended as a comprehensive guide to object-oriented C++ programming
and control of the Pioneer class of robots made by MobileRobots Inc. It
covers both the native API (ARIA, supplied by the manufacturer for use with all
their classes of robot), and the popular and more generic open-source Player server,
which can be used with many different makes and models. Hence, although the
book is written around the Pioneer robots in particular, the techniques and principles
demonstrated are applicable to a wide range of other mobile robots currently in
use in academic and industrial robot labs around the world.
The aim is to provide a text that can be used for the practical teaching of objectoriented
programming with real robots, and also support researchers using Player
and ARIA in their labs. The reader will learn how to install the necessary software,
troubleshoot common problems, set up the files needed to describe their robot configuration,
and will rapidly be able to get started with the task of creating their own
control programs.
The text assumes some prior knowledge of object-oriented concepts since the
main focus is instructing the user in the use of the ARIA API and the Player C++
client library. However, the instructions here are given primarily by example and
in such a way that the object-oriented concepts themselves are also implicitly explained.
Readers completely new to object-oriented programming should therefore
have no problems with understanding the text and should find themselves easily getting
to grips with object-oriented principles as well as learning how to program their
robots.
The book is divided into six chapters. Chapter 1 provides some background information
about Pioneer robots and their control including the various client-server
programming architectures that can be adopted, the robot devices present and the
software that is available to support them. It also quickly covers installation of
the ARIA API and various other MobileRobots resources such as ACTS software
(ActivMedia Color Tracking System), MobileSim (the ARIA simulator) and Mapper3Basic
(software for creating navigation maps). In addition, it explains how to
install Player and its simulator Stage. Chapter 2 presents detailed information on the
use of the ARIA API for robot programming, showing how to connect to and control
the robot and each of its devices. Chapter 3 is concerned with use of the MobileRobots
resources installed in Chapter 1, i.e. ACTS, MobileSim and Mapper3Basic,
and Chapter 4 rounds off the ARIA section of the book by explaining how to create
and use subclasses with ARIA. Programming with the Player C++ client library is
the subject of Chapter 5, and as with Chapter 2, comprehensive details about connecting
to and controlling the robot and each of its devices are supplied. Chapter
6 describes the use of Player’s Stage simulator and explains how to create world
files and configuration files to define virtual robots, their device set-ups and their
environments.
The ARIA and Player sections of the book are both fully supported by sample
programs, but the reader is also directed to the online supporting materials at
https://extras.springer.com, where more detailed and complex programs are available.
These additional programs are intended to integrate all of the techniques presented,
and they are explained further in the Appendix section.
Finally, please note that this guide is concerned with installing and using ARIA
and Player software on Linux-based operating systems only, since Player is not
compatible with Windows operating systems.
Nottingham, May 2009 Amanda Whitbrook

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