Autonomous Mobile Robots and Multi-Robot Systems

Motion-Planning, Communication, and Swarming
Herausgegeben:Kagan, Eugene; Shvalb, Nir; Ben-Gal, Irad

• Gebundenes Buch

Produktbeschreibung

Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems

This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides

Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot's location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions.
_ Provides a self-contained, theoretical guide to understanding mobile robot control and navigation
_ Features implementable algorithms, numerical examples, and simulations
_ Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots
_ Supplemented by a companion website offering codes, videos, and PowerPoint slides

Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

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Produktdetails

• Verlag: Wiley / Wiley & Sons
• Artikelnr. des Verlages: 1W119212860
• 1. Auflage
• Seitenzahl: 344
• Erscheinungstermin: 16. Dezember 2019
• Englisch
• Abmessung: 246mm x 175mm x 25mm
• Gewicht: 816g
• ISBN-13: 9781119212867
• ISBN-10: 1119212863
• Artikelnr.: 56038428

Autorenporträt

EUGENE KAGAN, PHD, is a senior lecturer in the Department of Industrial Engineering at Ariel University, Israel, and is also an advisor in the Department of Mathematics at the Weizmann Institute of Science and an affiliated researcher at the Laboratory for AI, Machine Learning, & Business Data Analytics at Tel-Aviv University. NIR SHVALB, PHD, is a Professor at the Faculty of Engineering at Ariel University, Israel, and the joint head of Kinematics and Computational Geometry laboratory. IRAD BEN-GAL, PHD, is a Professor at the Department of Industrial Engineering at Tel-Aviv University, Israel. He is the head of the Laboratory for AI, Machine Learning, Business & Data Analytics (LAMBDA) at Tel-Aviv University.

Inhaltsangabe

List of Contributors xi

Preface xiii

Acknowledgments xv

About the Companion Website xvii

Introduction 1
Eugene Kagan, Nir Shvalb, and Irad Ben-Gal

I.1 Early History of Robots 1

I.2 Autonomous Robots 2

I.3 Robot Arm Manipulators 6

I.4 Mobile Robots 8

I.5 Multi-Robot Systems and Swarms 12

I.6 Goal and Structure of the Book 16

References 17

1 Motion-Planning Schemes in Global Coordinates 21
Oded Medina and Nir Shvalb

1.1 Motivation 21

1.2 Notations 21

1.2.1 The Configuration Space 22

1.2.2 The Workspace 23

1.2.3 The Weight Function 23

1.3 Motion-Planning Schemes: Known Configuration Spaces 25

1.3.1 Potential-Field Algorithms 25

1.3.2 Grid-Based Algorithms 27

1.3.3 Sampling-Based Algorithms 29

1.4 Motion-Planning Schemes: Partially Known Configuration Spaces 30

1.4.1 BUG0 (Reads Bug-Zero) 31

1.4.2 BUG1 32

1.4.3 BUG2 32

1.5 Summary 33

References 33

2 Basic Perception 35
Simon Lineykin

2.1 Basic Scheme of Sensors 35

2.2 Obstacle Sensor (Bumper) 36

2.3 The Odometry Sensor 48

2.4 Distance Sensors 52

2.4.1 The ToF Range Finders 52

2.4.2 The Phase Shift Range Finder 56

2.4.3 Triangulation Range Finder 59

2.4.4 Ultrasonic Rangefinder 60

2.5 Summary 63

References 63

3 Motion in the Global Coordinates 65
Nir Shvalb and Shlomi Hacohen

3.1 Models of Mobile Robots 65

3.1.1 Wheeled Mobile Robots 65

3.1.2 Aerial Mobile Robots 67

3.2 Kinematic and Control of Hilare-Type Mobile Robots 69

3.2.1 Forward Kinematics of Hilare-Type Mobile Robots 69

3.2.2 Velocity Control of Hilare-Type Mobile Robots 71

3.2.3 Trajectory Tracking 72

3.3 Kinematic and Control of Quadrotor Mobile Robots 74

3.3.1 Dynamics of Quadrotor-Type Mobile Robots 74

3.3.2 Forces and Torques Generated by the Propellers 75

3.3.3 Relative End Global Coordinates 76

3.3.4 The Quadrotor Dynamic Model 78

3.3.5 A Simplified Dynamic Model 79

3.3.6 Trajectory Tracking Control of Quadrotors 80

3.3.7 Simulations 84

References 85

4 Motion in Potential Field and Navigation Function 87
Nir Shvalb and Shlomi Hacohen

4.1 Problem Statement 87

4.2 Gradient Descent Method of Optimization 89

4.2.1 Gradient Descent Without Constraints 89

4.2.2 Gradient Descent with Constraints 92

4.3 Minkowski Sum 94

4.4 Potential Field 95

4.5 Navigation Function 99

4.5.1 Navigation Function in Static Deterministic Environment 99

4.5.2 Navigation Function in Static Uncertain Environment 102

4.5.3 Navigation Function and Potential Fields in Dynamic Environment 104

4.5.3.1 Estimation 105

4.5.3.2 Prediction 105

4.5.3.3 Optimization 106

4.6 Summary 106

References 107

5 GNSS and Robot Localization 109
Roi Yozevitch and Boaz Ben-Moshe

5.1 Introduction to Satellite Navigation 109

5.1.1 Trilateration 109

5.2 Position Calculation 111

5.2.1 Multipath Signals 111

5.2.2 GNSS Accuracy Analysis 112

5.2.3 DoP 112

5.3 Coordinate Systems 113

5.3.1 Latitude, Longitude, and Altitude 113

5.3.2 UTM Projection 113

5.3.3 Local Cartesian Coordinates 114

5.4 Velocity Ca