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Autonomous mobile systems (AMS) are systems capable of some
mobility and equipped with advanced sensor devices in order to
flexibly respond to changing environmental situations, thus
achieving some degree of autonomy. The purpose of this book is to
contribute to some essential topics in this broad research area
related to sensing and control, but not to present a complete
design of an AMS. Subjects conceming knowledge based control and
decision, such as moving around obstacles, task planning and
diagnosis are left for future publications in this series. Research
in the area of AMS has grown rapidly during the last decade, see
e.g. WAXMAN et al. 87], DICKMANNS, ZAPP 87]. The requirements of an
AMS strongly depends on the desired tasks the system should
execute, its operational environment and the expected speed of the
AMS. For instance, road vehicles obtain velocities of 10 m/s and
more, therefore the processing of sensor data such as video image
sequences has to be very fast and simple, while indoor mobile
robots deal with shorter distances and lower speeds, thus more
sophistcated techniques are applicable and -as is done in our
approach- additional sensors can be integrated to allow for multi
sensor processing.
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