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    Introduction to Mobile Robot Control

    Introduction to Mobile Robot Control

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    Bog E-bog
    • Format
    • Bog, hardback
    • Engelsk

    Beskrivelse

    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.

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  • Vægt1140 g
    • coffee cup img
    10 cm
    book img
    15,2 cm
    22,9 cm

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    Global-positioning-system Fuzzy logic Boundary layer Configuration space Lyapunov stability Bayesian Learning Extended Kalman-Filter Inverse kinematics Feedback Linearization Kalman Filter Mobile robot navigation Local Model Network Input-Output-Linearization Diffeomorphism Homogeneous Transformation Analog sensor Manifold Invariant manifold Modular design Neural network Direct kinematics Fuzzy system Mobile Robot Localization Multilayer Perceptron (MLP) Laser Sensor Absolute localization Ackerman steering Adaptive tracking controller Affine dynamic system Artificial neuron model Assistive mobile robot Autonomous guided vehicle Backpropagation algorithm Bayesian estimator SLAM Bicycle drive Behavior-based ICA BERRA Brockett integrator model Castor wheel Cell Decomposition Catadioptric image Jacobian Camera visual transformation Chain model Computed torque control Control performance Catadioptric projection geometry Constrained dynamic control Coordinated open/closed-loop control DC Motor Model Dead Reckoning EKF errors Car-like dynamic model Car-like WMR Diagonal fuzzy logic controller Differential drive WMR Entertainment Robot Design for heterogeneity Central catadioptric projection Dynamic controller Distance sensor Dynamic tracking control Feature error vector evolution Fixed wheel Force/tactile sensor Double Brockett integrator Fuzzy neural path planning Extended double integrator Fuzzy local path tracker Controller performance Cooperating mobile robots Fuzzy Sliding Mode Control Full-state mobile manipulator visual control Fuzzy mobile robot control Force-torque diagram Four-wheel omnidirectional robot Fully autonomous mode Image-based visual control HRI function Differential-drive mobile manipulator control Hierarchical ICA Differential drive Digital sensor Inverse image Jacobian matrix Image Jacobian matrix Interactive safety Home service mobile robot Invariant manifold-based stabilizing control Electronic compass Kalman filter-based localization Infrared sensor Kinematic Controller Maximum manipulability Linearization-based adaptive control Mecanum wheel Lyapunov-based robust control Kalman filter-based sensor fusion Model-based WMR path planning Manipulability Lagrange dynamic model Field-of-view control Lie derivative Nonholonomic constraints Mobile manipulator control Mobile telerobot Mobile robot control software architecture Mobile robot path planning Mobile robot visual control mamdani inference Omnidirectional mobile manipulator modeling Maximum manipulability control Mecanum omnidirectional WMR Fuzzy logic control (FLC) Mobile robot task planning Mobile manipulator modeling Mobile robot mapping Omnidirectional robot control Omnidirectional Vision Graphical HRI Position-based visual control Position sensor Parking Control Parking maneuvering Omnidirectional Image Image-based WMR visual servoing Intelligent control architecture (ICA) ROMAN intelligent mobile manipulator Pose stabilizing control Potential field path planning Integrated global-local path planning Kinematic tracking control Leader-follower control Localization by map matching Jde component-oriented architecture Intelligent human-robot interface (HRI) Intelligent WMR prototype Layered mobile robot control software architecture Membership Function Multimodel HRI Newton-Euler dynamic model Omnidirectional drive Omnidirectional WMR Omnidirectional WMR dynamic model Online mobile robot motion planning Least-squares estimator Model reference adaptive control (MRAC) maneuverability Nonholonomic mobile manipulator modeling Radial basis function (RBF) network Mobile robot motion planning Mobile robot safety Particle filter SLAM Passive safety Multilayer perceptron-based WMR control Multiresolutional ICA Omnidirectional visual servoing Polar coordinate-based robot model

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