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Produktbild: Mobile Robots

Mobile Robots Navigation, Control and Sensing, Surface Robots and AUVs

151,99 €

inkl. gesetzl. MwSt., Versandkostenfrei

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Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

09.01.2020

Verlag

John Wiley & Sons Inc

Seitenzahl

352

Maße (L/B/H)

23,6/15,6/2,2 cm

Gewicht

687 g

Auflage

2nd edition

Sprache

Englisch

ISBN

978-1-119-53478-5

Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

09.01.2020

Verlag

John Wiley & Sons Inc

Seitenzahl

352

Maße (L/B/H)

23,6/15,6/2,2 cm

Gewicht

687 g

Auflage

2nd edition

Sprache

Englisch

ISBN

978-1-119-53478-5

Herstelleradresse

Libri GmbH
Europaallee 1
36244 Bad Hersfeld
DE

Email: gpsr@libri.de

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  • Produktbild: Mobile Robots

  • Preface xi

    About the Authors xiii

    Introduction 1

    1 Kinematic Models for Mobile Robots 5

    1.1 Introduction 5

    1.2 Vehicles with Front-Wheel Steering 5

    1.3 Vehicles with Differential-Drive Steering 8

    Exercises 11

    References 12

    2 Mobile Robot Control 13

    2.1 Introduction 13

    2.2 Front-Wheel Steered Vehicle, Heading Control 13

    2.3 Front-Wheel Steered Vehicle, Speed Control 22

    2.4 Heading and Speed Control for the Differential-Drive Robot 23

    2.5 Reference Trajectory and Incremental Control, Front-Wheel Steered Robot 26

    2.6 Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model 31

    2.7 Computed Control for Heading and Velocity, Front-Wheel Steered Robot 34

    2.8 Heading Control of Differential-Drive Robot Using the Nonlinear Model 36

    2.9 Computed Control for Heading and Velocity, Differential-Drive Robot 37

    2.10 Steering Control Along a Path Using a Local Coordinate Frame 38

    2.11 Optimal Steering of Front-Wheel Steered Vehicle 49

    2.12 Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle 67

    Exercises 68

    References 69

    3 Robot Attitude 71

    3.1 Introduction 71

    3.2 Definition of Yaw, Pitch, and Roll 71

    3.3 Rotation Matrix for Yaw 72

    3.4 Rotation Matrix for Pitch 74

    3.5 Rotation Matrix for Roll 75

    3.6 General Rotation Matrix 77

    3.7 Homogeneous Transformation 78

    3.8 Rotating a Vector 82

    Exercises 83

    References 84

    4 Robot Navigation 85

    4.1 Introduction 85

    4.2 Coordinate Systems 85

    4.3 Earth-Centered Earth-Fixed Coordinate System 85

    4.4 Associated Coordinate Systems 88

    4.5 Universal Transverse Mercator Coordinate System 91

    4.6 Global Positioning System 93

    4.7 Computing Receiver Location Using GPS, Numerical Methods 97

    4.7.1 Computing Receiver Location Using GPS via Newton's Method 97

    4.7.2 Computing Receiver Location Using GPS via Minimization of a Performance Index 105

    4.8 Array of GPS Antennas 111

    4.9 Gimbaled Inertial Navigation Systems 114

    4.10 Strap-Down Inertial Navigation Systems 118

    4.11 Dead Reckoning or Deduced Reckoning 123

    4.12 Inclinometer/Compass 125

    Exercises 127

    References 131

    5 Application of Kalman Filtering 133

    5.1 Introduction 133

    5.2 Estimating a Fixed Quantity Using Batch Processing 133

    5.3 Estimating a Fixed Quantity Using Recursive Processing 134

    5.4 Estimating the State of a Dynamic System Recursively 139

    5.5 Estimating the State of a Nonlinear System via the Extended Kalman Filter 150

    Exercises 165

    References 169

    6 Remote Sensing 171

    6.1 Introduction 171

    6.2 Camera-Type Sensors 171

    6.3 Stereo Vision 181

    6.4 Radar Sensing: Synthetic Aperture Radar 185

    6.5 Pointing of Range Sensor at Detected Object 190

    6.6 Detection Sensor in Scanning Mode 195

    Exercises 199

    References 200

    7 Target Tracking Including Multiple Targets with Multiple Sensors 203

    7.1 Introduction 203

    7.2 Regions of Confidence for Sensors 203

    7.3 Model of Target Location 211

    7.4 Inventory of Detected Targets 215

    Exercises 220

    References 221

    8 Obstacle Mapping and Its Application to Robot Navigation 223

    8.1 Introduction 223

    8.2 Sensors for Obstacle Detection and Geo-Registration 223

    8.3 Dead Reckoning Navigation 225

    8.4 Use of Previously Detected Obstacles for Navigation 229

    8.5 Simultaneous Corrections of Coordinates of Detected Obstacles and of the Robot 233

    Exercises 236

    References 237

    9 Operating a Robotic Manipulator 239

    9.1 Introduction 239

    9.2 Forward Kinematic Equations 239

    9.3 Path Specification in Joint Space 242

    9.4 Inverse Kinematic Equations 242

    9.5 Path Specification in Cartesian Space 248

    9.6 Velocity Relationships 249

    9.7 Forces and Torques 255

    Exercises 261

    References 262

    10 Remote Sensing via UAVs 263

    10.1 Introduction 263

    10.2 Mounting of Sensors 263

    10.3 Resolution of Sensors 264

    10.4 Precision of Vehicle Instrumentation 264

    10.5 Overall Geo-Registration Precision 265

    Exercise 267

    References 267

    11 Dynamics Modeling of AUVs 269

    11.1 Introduction 269

    11.2 Motivation 269

    11.3 Full Dynamic Model 270

    11.4 Hydrodynamic Model 273

    11.5 Reduced-Order Longitudinal Dynamics 274

    11.6 Computation of Steady Gliding Path in the Longitudinal Plane 276

    11.7 Scaling Analysis 279

    11.8 Spiraling Dynamics 281

    11.9 Computation of Spiral Path 286

    Exercises 288

    References 289

    12 Control of AUVs 291

    12.1 Introduction 291

    12.2 Longitudinal Gliding Stabilization 291

    12.2.1 Longitudinal Dynamic Model Reduction 292

    12.2.2 Passivity-Based Controller Design 295

    12.2.3 Simulation Results 297

    12.3 Yaw Angle Regulation 298

    12.3.1 Problem Statement 298

    12.3.2 Sliding Mode Controller Design 300

    12.3.3 Simulation Results 303

    12.4 Spiral Path Tracking 307

    12.4.1 Steady Spiral and Its Differential Geometric Parameters 307

    12.4.2 Two Degree-of-Freedom Control Design 310

    12.4.3 Simulation Results 314

    Exercises 321

    References 322

    Appendix A Demonstrations of Undergraduate Student Robotic Projects 323

    Index 327