Wheeled Mobile Robotics
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Wheeled Mobile Robot Control
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Author : Nardênio Almeida Martins
language : en
Publisher: Springer Nature
Release Date : 2021-08-12
Wheeled Mobile Robot Control written by Nardênio Almeida Martins and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-08-12 with Technology & Engineering categories.
This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
Modern Robotics
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Author : Kevin M. Lynch
language : en
Publisher: Cambridge University Press
Release Date : 2017-05-25
Modern Robotics written by Kevin M. Lynch and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-05-25 with Computers categories.
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Nonlinear Control Of Wheeled Mobile Robots
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Author : Warren E. Dixon
language : en
Publisher: Springer
Release Date : 2007-12-13
Nonlinear Control Of Wheeled Mobile Robots written by Warren E. Dixon and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-12-13 with Technology & Engineering categories.
This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results. The final chapter describes how the control techniques developed for wheeled mobile robots can be applied to solve other problems with similar governing differential equations (e.g., twin rotor helicopters, surface vessels). Several appendices are included to provide the reader with the mathematical background utilized in the control development and stability analysis. Two appendices are also included that provide specific details with regard to the modifications that were done to commercially available mobile robots (e.g., a K2A manufactured by Cybermotion Inc. and a Pioneer II manufactured by Activemedia) to experimentally demonstrate the performance of the torque input controllers.
Wheeled Mobile Robotics
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Author : Gregor Klancar
language : en
Publisher: Butterworth-Heinemann
Release Date : 2017-02-02
Wheeled Mobile Robotics written by Gregor Klancar and has been published by Butterworth-Heinemann this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-02-02 with Technology & Engineering categories.
Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. - Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners - Includes several examples of the application of algorithms in simulations and real laboratory projects - Presents foundation in mobile robotics theory before continuing with more advanced topics - Self-sufficient to beginner readers, covering all important topics in the mobile robotics field - Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems
Mobile Robotics
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Author : Alonzo Kelly
language : en
Publisher: Cambridge University Press
Release Date : 2013-11-11
Mobile Robotics written by Alonzo Kelly and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-11-11 with Computers categories.
Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning
Introduction To Autonomous Mobile Robots Second Edition
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Author : Roland Siegwart
language : en
Publisher: MIT Press
Release Date : 2011-02-18
Introduction To Autonomous Mobile Robots Second Edition written by Roland Siegwart and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-02-18 with Computers categories.
The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
Computational Principles Of Mobile Robotics
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Author : Gregory Dudek
language : en
Publisher: Cambridge University Press
Release Date : 2010-07-26
Computational Principles Of Mobile Robotics written by Gregory Dudek and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-07-26 with Computers categories.
This textbook for advanced undergraduates and graduate students emphasizes algorithms for a range of strategies for locomotion, sensing, and reasoning. It concentrates on wheeled and legged mobile robots but discusses a variety of other propulsion systems. This edition includes advances in robotics and intelligent machines over the ten years prior to publication, including significant coverage of SLAM (simultaneous localization and mapping) and multi-robot systems. It includes additional mathematical background and an extensive list of sample problems. Various mathematical techniques that were assumed in the first edition are now briefly introduced in appendices at the end of the text to make the book more self-contained. Researchers as well as students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.
Theory Of Robot Control
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Author : Carlos Canudas de Wit
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Theory Of Robot Control written by Carlos Canudas de Wit and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
The advent of new high-speed microprocessor technology together with the need for high-performance robots created substantial and realistic place for control theory in the field of robotics. Since the beginning of the 80's, robotics and control theory have greatly benefited from a mutual fertiliza tion. On one hand, robot models (inherently highly nonlinear) have been used as good case studies for exemplifying general concepts of analysis and design of advanced control theory; on the other hand, robot manipulator by using new control algorithms. Fur performance has been improved thermore, many interesting robotics problems, e. g. , in mobile robots, have brought new control theory research lines and given rise to the development of new controllers (time-varying and nonlinear). Robots in control are more than a simple case study. They represent a natural source of inspiration and a great pedagogical tool for research and teaching in control theory. Several advanced control algorithms have been developed for different types of robots (rigid, flexible and mobile), based either on existing control techniques, e. g. , feedback linearization and adaptive control, or on new control techniques that have been developed on purpose. Most of those results, although widely spread, are nowadays rather dispersed in different journals and conference proceedings. The purpose of this book is to collect some of the most fundamental and current results on theory of robot control in a unified framework, by editing, improving and completing previous works in the area.
Embedded Robotics
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Author : Thomas Bräunl
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-09-20
Embedded Robotics written by Thomas Bräunl and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-09-20 with Computers categories.
This book presents a unique examination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with Embedded Systems (hardware and software design, actuators, sensors, PID control, multitasking), Mobile Robot Design (driving, balancing, walking, and flying robots), and Mobile Robot Applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.