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.
1. Cover image - p. Cover 2. Title page - p. Cover 3. Table of Contents - p. Cover 4. Copyright - p. Cover 5. Dedication - p. IV 6. Preface - p. V 7. List of acknowledged authors and collaborators - p. XVIII 8. Principal symbols and acronyms - p. XXI 9. Quotations about robotics - p. XXIV 10. 1. Mobile Robots: General Concepts - p. XXV 11. 2. Mobile Robot Kinematics - p. 29 12. 3. Mobile Robot Dynamics - p. 66 13. 4. Mobile Robot Sensors - p. 98 14. 5. Mobile Robot Control I: The Lyapunov-Based Method - p. 134 15. 6. Mobile Robot Control II: Affine Systems and Invariant Manifold Methods - p. 182 16. 7. Mobile Robot Control III: Adaptive and Robust Methods - p. 234 17. 8. Mobile Robot Control IV: Fuzzy and Neural Methods - p. 267 18. 9. Mobile Robot Control V: Vision-Based Methods - p. 315 19. 10. Mobile Manipulator Modeling and Control - p. 381 20. 11. Mobile Robot Path, Motion, and Task Planning - p. 427 21. 12. Mobile Robot Localization and Mapping - p. 476 22. 13. Experimental Studies - p. 530 23. 14. Generic Systemic and Software Architectures for Mobile Robot Intelligent Control - p. 585 24. 15. Mobile Robots at Work - p. 629 25. Problems - p. 662 26. Robotics Web Sites - p. 687
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.
1. Cover image - p. Cover 2. Title page - p. Cover 3. Table of Contents - p. Cover 4. Copyright - p. Cover 5. Dedication - p. IV 6. Preface - p. V 7. List of acknowledged authors and collaborators - p. XVIII 8. Principal symbols and acronyms - p. XXI 9. Quotations about robotics - p. XXIV 10. 1. Mobile Robots: General Concepts - p. XXV 11. 2. Mobile Robot Kinematics - p. 29 12. 3. Mobile Robot Dynamics - p. 66 13. 4. Mobile Robot Sensors - p. 98 14. 5. Mobile Robot Control I: The Lyapunov-Based Method - p. 134 15. 6. Mobile Robot Control II: Affine Systems and Invariant Manifold Methods - p. 182 16. 7. Mobile Robot Control III: Adaptive and Robust Methods - p. 234 17. 8. Mobile Robot Control IV: Fuzzy and Neural Methods - p. 267 18. 9. Mobile Robot Control V: Vision-Based Methods - p. 315 19. 10. Mobile Manipulator Modeling and Control - p. 381 20. 11. Mobile Robot Path, Motion, and Task Planning - p. 427 21. 12. Mobile Robot Localization and Mapping - p. 476 22. 13. Experimental Studies - p. 530 23. 14. Generic Systemic and Software Architectures for Mobile Robot Intelligent Control - p. 585 24. 15. Mobile Robots at Work - p. 629 25. Problems - p. 662 26. Robotics Web Sites - p. 687
