Gerald Cook, Feitian Zhang

Mobile Robots (eBook, PDF)

Navigation, Control and Sensing, Surface Robots and AUVs

• Format: PDF

Produktbeschreibung

Presents the normal kinematic and dynamic equations for robots, including mobile robots, with coordinate transformations and various control strategies This fully updated edition examines the use of mobile robots for sensing objects of interest, and focus primarily on control, navigation, and remote sensing. It also includes an entirely new section on modeling and control of autonomous underwater vehicles (AUVs), which exhibits unique complex three-dimensional dynamics. Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs, Second Edition starts with a chapter on kinematic models for mobile robots. It then offers a detailed chapter on robot control, examining several different configurations of mobile robots. Following sections look at robot attitude and navigation. The application of Kalman Filtering is covered. Readers are also provided with a section on remote sensing and sensors. Other chapters discuss: target tracking, including multiple targets with multiple sensors; obstacle mapping and its application to robot navigation; operating a robotic manipulator; and remote sensing via UAVs. The last two sections deal with the dynamics modeling of AUVs and control of AUVs. In addition, this text: * Includes two new chapters dealing with control of underwater vehicles * Covers control schemes including linearization and use of linear control design methods, Lyapunov stability theory, and more * Addresses the problem of ground registration of detected objects of interest given their pixel coordinates in the sensor frame * Analyzes geo-registration errors as a function of sensor precision and sensor pointing uncertainty Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs is intended for use as a textbook for a graduate course of the same title and can also serve as a reference book for practicing engineers working in related areas.

---

Dieser Download kann aus rechtlichen Gründen nur mit Rechnungsadresse in A, B, BG, CY, CZ, D, DK, EW, E, FIN, F, GR, HR, H, IRL, I, LT, L, LR, M, NL, PL, P, R, S, SLO, SK ausgeliefert werden.

Produktdetails

• Verlag: John Wiley & Sons
• Seitenzahl: 352
• Erscheinungstermin: 23. Dezember 2019
• Englisch
• ISBN-13: 9781119534709
• Artikelnr.: 58582807

Autorenporträt

GERALD COOK, ScD, is the Earle C. Williams Professor Emeritus of Electrical Engineering and past chairman of Electrical and Computer Engineering at George Mason University. He was previously Chairman of Electrical and Biomedical Engineering at Vanderbilt University and before that, Professor of Electrical Engineering at the University of Virginia. He is a Life Fellow of the Institute of Electrical and Electronics Engineers (IEEE), a former president of the IEEE Industrial Electronics Society and a former Editor-in-Chief of the IEEE Transactions on Industrial Electronics. FEITIAN ZHANG, PHD, is an Assistant Professor in the Electrical & Computer Engineering Department at George Mason University. He was awarded the GMU Multidisciplinary Research Awards in 2017 and the Office of Naval Research (ONR) Summer Faculty Fellowship in 2019. He is a member of the Institute of Electrical and Electronic Engineers (IEEE) and American Society of Mechanical Engineers (ASME).

Inhaltsangabe

Preface xi

About the Authors xiii

Introduction 1

1 Kinematic Models for Mobile Robots 5

1.1 Introduction 5

1.2 Vehicles with Front-Wheel Steering 5

1.3 Vehicles with Differential-Drive Steering 8

Exercises 11

References 12

2 Mobile Robot Control 13

2.1 Introduction 13

2.2 Front-Wheel Steered Vehicle, Heading Control 13

2.3 Front-Wheel Steered Vehicle, Speed Control 22

2.4 Heading and Speed Control for the Differential-Drive Robot 23

2.5 Reference Trajectory and Incremental Control, Front-Wheel Steered Robot 26

2.6 Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model 31

2.7 Computed Control for Heading and Velocity, Front-Wheel Steered Robot 34

2.8 Heading Control of Differential-Drive Robot Using the Nonlinear Model 36

2.9 Computed Control for Heading and Velocity, Differential-Drive Robot 37

2.10 Steering Control Along a Path Using a Local Coordinate Frame 38

2.11 Optimal Steering of Front-Wheel Steered Vehicle 49

2.12 Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle 67

Exercises 68

References 69

3 Robot Attitude 71

3.1 Introduction 71

3.2 Definition of Yaw, Pitch, and Roll 71

3.3 Rotation Matrix for Yaw 72

3.4 Rotation Matrix for Pitch 74

3.5 Rotation Matrix for Roll 75

3.6 General Rotation Matrix 77

3.7 Homogeneous Transformation 78

3.8 Rotating a Vector 82

Exercises 83

References 84

4 Robot Navigation 85

4.1 Introduction 85

4.2 Coordinate Systems 85

4.3 Earth-Centered Earth-Fixed Coordinate System 85

4.4 Associated Coordinate Systems 88

4.5 Universal Transverse Mercator Coordinate System 91

4.6 Global Positioning System 93

4.7 Computing Receiver Location Using GPS, Numerical Methods 97

4.7.1 Computing Receiver Location Using GPS via Newton's Method 97

4.7.2 Computing Receiver Location Using GPS via Minimization of a Performance Index 105

4.8 Array of GPS Antennas 111

4.9 Gimbaled Inertial Navigation Systems 114

4.10 Strap-Down Inertial Navigation Systems 118

4.11 Dead Reckoning or Deduced Reckoning 123

4.12 Inclinometer/Compass 125

Exercises 127

References 131

5 Application of Kalman Filtering 133

5.1 Introduction 133

5.2 Estimating a Fixed Quantity Using Batch Processing 133

5.3 Estimating a Fixed Quantity Using Recursive Processing 134

5.4 Estimating the State of a Dynamic System Recursively 139

5.5 Estimating the State of a Nonlinear System via the Extended Kalman Filter 150

Exercises 165

References 169

6 Remote Sensing 171

6.1 Introduction 171

6.2 Camera-Type Sensors 171

6.3 Stereo Vision 181

6.4 Radar Sensing: Synthetic Aperture Radar 185

6.5 Pointing of Range Sensor at Detected Object 190

6.6 Detection Sensor in Scanning Mode 195

Exercises 199

References 200

7 Target Tracking Including Multiple Targets with Multiple Sensors 203

7.1 Introduction 203

7.2 Regions of Confidence for Sensors 203

7.3 Model of Target Location 211

7.4 Inventory of Detected Targets 215

Exercises 220

References 221

8 Obstacle Mapping and Its Application to Robot Navigation 223

8.1 Introduction 223

8.2 Sensor