Embedded Control for Mobile Robotic Applications (IEEE Press Series on Control Systems Theory and Applications)

✍ Scribed by Leena Vachhani, Pranjal Vyas, Arunkumar G. K.

• Publisher: Wiley-IEEE Press
• Year: 2022
• Tongue: English
• Leaves: 179
• Edition: 1
• Category: Library

✦ Synopsis

An all-in-one resource for designing and implementing embedded control in mobile robotics

In Embedded Control for Mobile Robotic Applications, a distinguished trio of researchers delivers an authoritative and fulsome resource for understanding embedded control and robotics. The book includes coverage of a variety of embedded platforms, their use in controller implementation, stability analyses of designed controllers, and two new approaches for designing embedded controllers.

The authors offer a full chapter on Field-Programmable-Gate-Array (FPGA) architecture development for controller design that is perfect for both practitioners and students taking robotics courses and provide a companion website that includes MATLAB codes for simulation and embedded platform-specific code for mobile robotic applications (in Embedded C and Verilog).

The two approaches discussed by the authors—the top-down methodology and the bottom-up methodology—are of immediate practical utility to both practicing professionals in the field and students studying control applications and mobile robotics. The book also offers:

• A thorough introduction to embedded control, including processor, IC, and design technology, as well as a discussion of limitations in embedded control design
• Comprehensive explorations of the bottom-up and top-down methods, including computations using CORDIC, interval arithmetic, sliding surface design, and switched nonlinear systems
• Practical discussions of generic FPGA architecture design, including Verilog, PID controllers, DC motors and Encoder, and a systematic approach for designing architecture using FSMD
• In-depth examinations of discrete-time controller design, including the approximation to discrete-time transfer function and embedded implementation stability

Perfect for practitioners working in embedded control design and control applications in robotics, Embedded Control for Mobile Robotic Applications will also earn a place in the libraries of academicians, researchers, senior undergraduate students, and graduate students in these fields.

✦ Table of Contents

Cover
Title Page
Copyright
Contents
Preface
Acknowledgments
Acronyms
Introduction
About the Companion Website
Chapter 1 Embedded Technology for Mobile Robotics
1.1 Embedded Control System
1.2 Mobile Robotics
1.2.1 Robot Model for 2D Motion
1.2.1.1 Generic Model
1.2.1.2 Unicycle Model
1.2.1.3 Differential‐Drive Mobile Robot or DDMR
1.2.1.4 Front Wheel Steering Robot or FWSR
1.2.1.5 Chained form of Unicycle
1.2.1.6 Single Integrator Model of Unicycle
1.2.1.7 Discrete‐time Unicycle Model
1.2.2 Robot Model for 3D Motion
1.2.2.1 Quadcopter – An Aerial Vehicle
1.2.2.2 Six‐Thrusters Configuration – An Underwater Vehicle
1.3 Embedded Technology
1.3.1 Processor Technology
1.3.2 IC Technology
1.4 Commercially Available Embedded Processors
1.4.1 Microprocessor
1.4.2 Microcontroller
1.4.3 Field Programmable Gate Arrays (FPGA)
1.4.4 Digital Signal Processor
1.5 Notes and Further Readings
Chapter 2 Discrete‐time Controller Design
2.1 Transfer Function for Equivalent Discrete‐time System
2.2 Discrete‐time PID Controller Design
2.3 Stability in Embedded Implementation
2.3.1 Sampling
2.3.2 Quantization
2.3.3 Processing Time
2.4 Notes and Further Readings
Chapter 3 Embedded Control and Robotics
3.1 Transformations
3.1.1 2D Transformations
3.1.2 3D Transformations
3.2 Collision Detection and Avoidance
3.2.1 Vector Field Histogram (VFH)
3.2.2 Curvature Velocity Technique (CVM)
3.2.3 Dynamic Window Approach (DWA)
3.3 Localization
3.4 Path Planning
3.4.1 Potential Field Path Planning
3.4.2 Graph‐based Path Planning
3.4.2.1 Dijkstra's Algorithm
3.4.2.2 A* Algorithm
3.4.2.3 Rapidly‐exploring Random Trees (RRT) Algorithm
3.5 Multi‐agent Scenarios
3.6 Notes and Further Readings
Chapter 4 Bottom‐up Method
4.1 Computations Using CORDIC1
4.1.1 Coordinate Transformation
4.1.1.1 Cartesian to Polar Coordinates Conversion
4.1.1.2 Polar to Cartesian Coordinate Conversion
4.1.2 Exponential and Logarithmic Functions
4.2 Interval Arithmetic2
4.2.1 Basics of Interval Arithmetic
4.2.2 Inclusion Function and Inclusion Tests
4.3 Collision Detection Using Interval Technique3
4.4 Free Interval Computation for Collision Avoidance4
4.4.1 Illustration for Detecting Collision and Computing Free interval
4.5 Notes for Further Reading
Chapter 5 Top‐Down Method
5.1 Robust Controller Design
5.1.1 Basic Definitions
5.1.2 State Feedback Control
5.1.3 Sliding‐Mode Control
5.1.4 Sliding Surface Design for Position Stabilization in 2D
5.1.5 Position Stabilization for a Vehicle in 3D
5.1.6 Embedded Implementation
5.2 Switched Nonlinear System
5.2.1 Swarm Aggregation as a Switched Nonlinear System
5.2.1.1 Free Subsystem s1
5.2.1.2 Engaged Subsystem s2
5.2.2 Embedded Implementation
5.3 Notes and Further Readings
Chapter 6 Generic FPGA Architecture Design
6.1 FPGA Basics and Verilog
6.2 Systematic Approach for Designing Architecture Using FSM
6.2.1 PID Controller Architecture
6.2.2 Sliding‐Mode Controller Architecture
6.3 FPGA Implementation
6.4 Parallel Implementation of Multiple Controllers
6.5 Notes and Further Readings
Chapter 7 Summary
Bibliography
Index
Books in the IEEE Press Series on Control SystemsTheory and Applications
EULA