Introduction to Mobile Robot Control, 1st Edition

  • Published By:
  • ISBN-10: 0124171036
  • ISBN-13: 9780124171039
  • DDC: 629.8932
  • Grade Level Range: College Freshman - College Senior
  • 750 Pages | eBook
  • Original Copyright 2013 | Published/Released June 2014
  • This publication's content originally published in print form: 2013

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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.

Table of Contents

Front Cover.
Half Title Page.
Title Page.
Copyright Page.
List of Acknowledged Authors and Collaborators.
Principal Symbols and Acronyms.
Quotations about Robotics.
1: Mobile Robots: General Concepts.
2: Mobile Robot Kinematics.
3: Mobile Robot Dynamics.
4: Mobile Robot Sensors.
5: Mobile Robot Control I: The Lyapunov-Based Method.
6: Mobile Robot Control II: Affine Systems and Invariant Manifold Methods.
7: Mobile Robot Control III: Adaptive and Robust Methods.
8: Mobile Robot Control IV: Fuzzy and Neural Methods.
9: Mobile Robot Control V: Vision-Based Methods.
10: Mobile Manipulator Modeling and Control.
11: Mobile Robot Path, Motion, and Task Planning.
12: Mobile Robot Localization and Mapping.
13: Experimental Studies.
14: Generic Systemic and Software Architectures for Mobile Robot Intelligent Control.
15: Mobile Robots at Work.
Robotics Web Sites.