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1、DesigningAutonomousMobileRobotsDesigningAutonomousMobileRobotsbyJohnHollandAMSTERDAM•BOSTON•HEIDELBERG•LONDONNEWYORK•OXFORD•PARIS•SANDIEGOSANFRANCISCO•SINGAPORE•SYDNEY•TOKYONewnesisanimprintofElsevier200WheelerRoad,Burlington,MA01803,USALinacreHouse,JordanHill,OxfordOX28DP,
2、UKCopyright©2004,ElsevierInc.Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedinanyformorbyanymeans,electronic,mechanical,photocopying,recording,orotherwise,withoutthepriorwrittenpermissionofthepublisher.Permissionsmaybesoughtdi
3、rectlyfromElsevier’sScience&TechnologyRightsDepartmentinOxford,UK:phone:(+44)1865843830,fax:(+44)1865853333,e-mail:permissions@elsevier.com.uk.Youmayalsocompleteyourrequeston-lineviatheElsevierhomepage(http://elsevier.com),byselecting“CustomerSupport”andthen“ObtainingPermis
4、sions.”Recognizingtheimportanceofpreservingwhathasbeenwritten,Elsevierprintsitsbooksonacid-freepaperwheneverpossible.LibraryofCongressCataloging-in-PublicationData(Applicationsubmitted.)BritishLibraryCataloguing-in-PublicationDataAcataloguerecordforthisbookisavailablefromth
5、eBritishLibrary.ISBN:0-7506-7683-3ForinformationonallNewnespublicationsvisitourwebsiteatwww.newnespress.com03040506070810987654321PrintedintheUnitedStatesofAmericaDedicationThisbookisdedicatedtoalltheemployees,boardmembers,stockholdersandsupportersofCybermotionoveralltheyea
6、rs.HowIshouldeverhavebeenluckyenoughtoworkwithsomanydedicated,talented,intelligent,humorousandtenaciouspeopleIshallneverknow.Allofthechallengeswefacedtogetherhaveproducedthesepages,Imerelydidthetyping.Infairness,itmustalsobededicatedtothelongsufferingspousesofthe“Cyberdogs,
7、”includingmyownwonderfulwifeSheilah.ContentsForeword..................................................................................................xiiiWhat’sontheCD-ROM?...........................................................................xvSECTION1–BackgroundSoftwa
8、reandConcepts...............................1Chapter1:MeasureTwice,CutOnce........
