Introduction to Mobile Robot Control

✍ Scribed by S.G. Tzafestas (Auth.)

• Publisher: Elsevier
• Year: 2014
• Tongue: English
• Leaves: 691
• Edition: 1
• Category: Library

✦ Synopsis

Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society.

Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field.

• Clearly and authoritatively presents mobile robot concepts
• Richly illustrated throughout with figures and examples
• Key concepts demonstrated with a host of experimental and simulation examples
• No prior knowledge of the subject is required; each chapter commences with an introduction and background

✦ Table of Contents

Content:
Front-matter, Pages i,iii
Copyright, Page iv
Dedication, Page v
Preface, Pages xvii-xviii
List of acknowledged authors and collaborators, Pages xix-xxi
Principal symbols and acronyms, Pages xxiii-xxiv
Quotations about robotics, Page xxv
1 - Mobile Robots: General Concepts, Pages 1-29
2 - Mobile Robot Kinematics, Pages 31-67
3 - Mobile Robot Dynamics, Pages 69-99
4 - Mobile Robot Sensors, Pages 101-135
5 - Mobile Robot Control I: The Lyapunov-Based Method, Pages 137-183
6 - Mobile Robot Control II: Affine Systems and Invariant Manifold Methods, Pages 185-235
7 - Mobile Robot Control III: Adaptive and Robust Methods, Pages 237-268
8 - Mobile Robot Control IV: Fuzzy and Neural Methods, Pages 269-317
9 - Mobile Robot Control V: Vision-Based Methods, Pages 319-384
10 - Mobile Manipulator Modeling and Control, Pages 385-428
11 - Mobile Robot Path, Motion, and Task Planning, Pages 429-478
12 - Mobile Robot Localization and Mapping, Pages 479-531
13 - Experimental Studies, Pages 533-587
14 - Generic Systemic and Software Architectures for Mobile Robot Intelligent Control, Pages 589-633
15 - Mobile Robots at Work, Pages 635-663
Problems, Pages 665-687
Robotics Web Sites, Pages 689-691