Introduction ¶

There are lots of great books about autonomous mobile robots out there. Personally, most of them try to provide comprehensive and deep views on too many topics. In contrary to them, I am trying to provide the minimal (I hope) contents you need to know to build an autonomous mobile robot.

Chapters ¶

1. Introduction
2. Linear algebra
3. Probability
4. Gaussian distribution
   • Covariance projection
5. Non-linear optimization
6. Position and Orientation
7. Map Representations
   • Geometry map
   • Semantic map
8. Filters
   • KF, EKF, Particle filters
9. Perception
   • Sensors
   • Detection
   • Tracking
10. Localization
11. Mapping
    • Offline
    • SLAM
12. Planning and Control
    • Route planning
    • Path planning
    • Control
    • PID
    • MPC