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Introduction To Mobile Robot Control

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Introduction to Mobile Robot Control

Introduction to Mobile Robot Control Book
Author : Spyros G Tzafestas
Publisher : Elsevier
Release : 2013-10-03
ISBN : 0124171036
Language : En, Es, Fr & De

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Book Description :

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. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background

Introduction to Autonomous Mobile Robots

Introduction to Autonomous Mobile Robots Book
Author : Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza
Publisher : MIT Press
Release : 2011-02-18
ISBN : 0262015358
Language : En, Es, Fr & De

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Book Description :

Machine generated contents note: |g 1. |t Introduction -- |g 1.1. |t Introduction -- |g 1.2. |t An Overview of the Book -- |g 2. |t Locomotion -- |g 2.1. |t Introduction -- |g 2.1.1. |t Key issues for locomotion -- |g 2.2. |t Legged Mobile Robots -- |g 2.2.1. |t Leg configurations and stability -- |g 2.2.2. |t Consideration of dynamics -- |g 2.2.3. |t Examples of legged robot locomotion -- |g 2.3. |t Wheeled Mobile Robots -- |g 2.3.1. |t Wheeled locomotion: The design space -- |g 2.3.2. |t Wheeled locomotion: Case studies -- |g 2.4. |t Aerial Mobile Robots -- |g 2.4.1. |t Introduction -- |g 2.4.2. |t Aircraft configurations -- |g 2.4.3. |t State of the art in autonomous VTOL -- |g 2.5. |t Problems -- |g 3. |t Mobile Robot Kinematics -- |g 3.1. |t Introduction -- |g 3.2. |t Kinematic Models and Constraints -- |g 3.2.1. |t Representing robot position -- |g 3.2.2. |t Forward kinematic models -- |g 3.2.3. |t Wheel kinematic constraints -- |g 3.2.4. |t Robot kinematic constraints -- |g 3.g 3.3. |t Mobile Robot Maneuverability -- |g 3.3.1. |t Degree of mobility -- |g 3.3.2. |t Degree of steerability -- |g 3.3.3. |t Robot maneuverability -- |g 3.4. |t Mobile Robot Workspace -- |g 3.4.1. |t Degrees of freedom -- |g 3.4.2. |t Holonomic robots -- |g 3.4.3. |t Path and trajectory considerations -- |g 3.5. |t Beyond Basic Kinematics -- |g 3.6. |t Motion Control (Kinematic Control) -- |g 3.6.1. |t Open loop control (trajectory-following) -- |g 3.6.2. |t Feedback control -- |g 3.7. |t Problems -- |g 4. |t Perception -- |g 4.1. |t Sensors for Mobile Robots -- |g 4.1.1. |t Sensor classification -- |g 4.1.2. |t Characterizing sensor performance -- |g 4.1.3. |t Representing uncertainty -- |g 4.1.4. |t Wheel/motor sensors -- |g 4.1.5. |t Heading sensors -- |g 4.1.6. |t Accelerometers -- |g 4.1.7. |t Inertial measurement unit (IMU) -- |g 4.1.8. |t Ground beacons -- |g 4.1.9. |t Active ranging -- |g 4.1.10. |t Motion/speed sensors -- |g 4.1.11. |t Vision sensors -- |g 4.2. |t Fundameng 4.2.5. |t Structure from stereo -- |g 4.2.6. |t Structure from motion -- |g 4.2.7. |t Motion and optical flow -- |g 4.2.8. |t Color tracking -- |g 4.3. |t Fundamentals of Image Processing -- |g 4.3.1. |t Image filtering -- |g 4.3.2. |t Edge detection -- |g 4.3.3. |t Computing image similarity -- |g 4.4. |t Feature Extraction -- |g 4.5. |t Image Feature Extraction: Interest Point Detectors -- |g 4.5.1. |t Introduction -- |g 4.5.2. |t Properties of the ideal feature detector -- |g 4.5.3. |t Corner detectors -- |g 4.5.4. |t Invariance to photometric and geometric changes -- |g 4.5.5. |t Blob detectors -- |g 4.6. |t Place Recognition -- |g 4.6.1. |t Introduction -- |g 4.6.2. |t From bag of features to visual words -- |g 4.6.3. |t Efficient location recognition by using an inverted file -- |g 4.6.4. |t Geometric verification for robust place recognition -- |g 4.6.5. |t Applications -- |g 4.6.6. |t Other image representations for place recognition -- |g 4.7. |t Feature Extraction Based ong 4.7.3. |t Range histogram features -- |g 4.7.4. |t Extracting other geometric features -- |g 4.8. |t Problems -- |g 5. |t Mobile Robot Localization -- |g 5.1. |t Introduction -- |g 5.2. |t The Challenge of Localization: Noise and Aliasing -- |g 5.2.1. |t Sensor noise -- |g 5.2.2. |t Sensor aliasing -- |g 5.2.3. |t Effector noise -- |g 5.2.4. |t An error model for odometric position estimation -- |g 5.3. |t To Localize or Not to Localize: Localization-Based Navigation Versus Programmed Solutions -- |g 5.4. |t Belief Representation -- |g 5.4.1. |t Single-hypothesis belief -- |g 5.4.2. |t Multiple-hypothesis belief -- |g 5.5. |t Map Representation -- |g 5.5.1. |t Continuous representations -- |g 5.5.2. |t Decomposition strategies -- |g 5.5.3. |t State of the art: Current challenges in map representation -- |g 5.6. |t Probabilistic Map-Based Localization -- |g 5.6.1. |t Introduction -- |g 5.6.2. |t The robot localization problem -- |g 5.6.3. |t Basic concepts of probability theory -- |gg 5.6.6. |t Classification of localization problems -- |g 5.6.7. |t Markov localization -- |g 5.6.8. |t Kalman filter localization -- |g 5.7. |t Other Examples of Localization Systems -- |g 5.7.1. |t Landmark-based navigation -- |g 5.7.2. |t Globally unique localization -- |g 5.7.3. |t Positioning beacon systems -- |g 5.7.4. |t Route-based localization -- |g 5.8. |t Autonomous Map Building -- |g 5.8.1. |t Introduction -- |g 5.8.2. |t SLAM: The simultaneous localization and mapping problem -- |g 5.8.3. |t Mathematical definition of SLAM -- |g 5.8.4. |t Extended Kalman Filter (EKF) SLAM -- |g 5.8.5. |t Visual SLAM with a single camera -- |g 5.8.6. |t Discussion on EKF SLAM -- |g 5.8.7. |t Graph-based SLAM -- |g 5.8.8. |t Particle filter SLAM -- |g 5.8.9. |t Open challenges in SLAM -- |g 5.8.10. |t Open source SLAM software and other resources -- |g 5.9. |t Problems -- |g 6. |t Planning and Navigation -- |g 6.1. |t Introduction -- |g 6.2. |t Competences for Navigation: Planning and Reactig 6.4. |t Obstacle avoidance -- |g 6.4.1. |t Bug algorithm -- |g 6.4.2. |t Vector field histogram -- |g 6.4.3. |t The bubble band technique -- |g 6.4.4. |t Curvature velocity techniques -- |g 6.4.5. |t Dynamic window approaches -- |g 6.4.6. |t The Schlegel approach to obstacle avoidance -- |g 6.4.7. |t Nearness diagram -- |g 6.4.8. |t Gradient method -- |g 6.4.9. |t Adding dynamic constraints -- |g 6.4.10. |t Other approaches -- |g 6.4.11. |t Overview -- |g 6.5. |t Navigation Architectures -- |g 6.5.1. |t Modularity for code reuse and sharing -- |g 6.5.2. |t Control localization -- |g 6.5.3. |t Techniques for decomposition -- |g 6.5.4. |t Case studies: tiered robot architectures -- |g 6.6. |t Problems -- |t Bibliography -- |t Books -- |t Papers -- |t Referenced Webpages.

Model Abstraction in Dynamical Systems Application to Mobile Robot Control

Model Abstraction in Dynamical Systems  Application to Mobile Robot Control Book
Author : Patricia Mellodge,Pushkin Kachroo
Publisher : Springer
Release : 2008-09-18
ISBN : 3540707999
Language : En, Es, Fr & De

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Book Description :

The subject of this book is model abstraction of dynamical systems. The p- mary goal of the work embodied in this book is to design a controller for the mobile robotic car using abstraction. Abstraction provides a means to rep- sent the dynamics of a system using a simpler model while retaining important characteristics of the original system. A second goal of this work is to study the propagation of uncertain initial conditions in the framework of abstraction. The summation of this work is presented in this book. It includes the following: • An overview of the history and current research in mobile robotic control design. • A mathematical review that provides the tools used in this research area. • The development of the robotic car model and both controllers used in the new control design. • A review of abstraction and an extension of these ideas into new system relationship characterizations called traceability and -traceability. • A framework for designing controllers based on abstraction. • An open-loop control design with simulation results. • An investigation of system abstraction with uncertain initial conditions.

Mobile Robotics

Mobile Robotics Book
Author : Ulrich Nehmzow
Publisher : Springer Science & Business Media
Release : 2000
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

This book is an introduction to the foundations and methods used for designing completely autonomous mobile robots. Readers are introduced to the fundamental concepts of mobile robotics via twelve detailed case studies which show how to build and program real working robots. The book provides a very practical introduction to mobile robotics for a general scientific audience, and is essential reading for practitioners and students working in robotics, artificial intelligence, cognitive science and robot engineering.

Vision Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type 2 Fuzzy Logic

Vision Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type 2 Fuzzy Logic Book
Author : Mahmut Dirik
Publisher : Springer Nature
Release : 2021-04-13
ISBN : 3030692477
Language : En, Es, Fr & De

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Book Description :

Download Vision Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type 2 Fuzzy Logic book written by Mahmut Dirik, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Mobile Robotics for Multidisciplinary Study

Mobile Robotics for Multidisciplinary Study Book
Author : Carlotta A. Berry
Publisher : Morgan & Claypool Publishers
Release : 2012
ISBN : 1608457982
Language : En, Es, Fr & De

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Book Description :

This lecture provides an introduction to the field of mobile robotics and the intersection between multiple robotics-related disciplines including electrical, mechanical, computer, software engineering and computer science. It is intended for an upper-level undergraduate or first-year graduate students interested in mobile robotics and artificial intelligence with some experience in object-oriented programming and controls. Focus areas will include robotics history, hardware, control and software. Specific topics include robot components, effectors and actuators, locomotion, kinematics, sensors, feedback control, control architectures, representation, navigation, localization and mapping. The end of each chapter includes review questions as well as exercises to provide applications for the concepts as well as opportunities for further study.Table of Contents: Introduction / Hardware / Control / Software

Simultaneous Localization and Mapping for Mobile Robots Introduction and Methods

Simultaneous Localization and Mapping for Mobile Robots  Introduction and Methods Book
Author : Fernández-Madrigal, Juan-Antonio
Publisher : IGI Global
Release : 2012-09-30
ISBN : 1466621052
Language : En, Es, Fr & De

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Book Description :

As mobile robots become more common in general knowledge and practices, as opposed to simply in research labs, there is an increased need for the introduction and methods to Simultaneous Localization and Mapping (SLAM) and its techniques and concepts related to robotics. Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.

SLAM Techniques Application for Mobile Robot in Rough Terrain

SLAM Techniques Application for Mobile Robot in Rough Terrain Book
Author : Andrii Kudriashov,Tomasz Buratowski,Mariusz Giergiel,Piotr Małka
Publisher : Springer Nature
Release : 2020-07-08
ISBN : 3030489817
Language : En, Es, Fr & De

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Book Description :

This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system’s development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots’ homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.

Embedded Robotics

Embedded Robotics Book
Author : Thomas Bräunl
Publisher : Springer Science & Business Media
Release : 2008-09-20
ISBN : 3540705341
Language : En, Es, Fr & De

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Book Description :

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.

Conference on Artificial Intelligence for Space Applications

Conference on Artificial Intelligence for Space Applications Book
Author : Anonim
Publisher : Unknown
Release : 1986
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Conference on Artificial Intelligence for Space Applications book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Advances in Plan Based Control of Robotic Agents

Advances in Plan Based Control of Robotic Agents Book
Author : Michael Beetz,Leonidas Guibas,Joachim Herztberg,Malik Ghallab,Martha E. Pollack
Publisher : Springer Science & Business Media
Release : 2002-11-01
ISBN : 3540001689
Language : En, Es, Fr & De

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Book Description :

In recent years, autonomous robots, including Xavier, Martha [1], Rhino [2,3], Minerva,and Remote Agent, have shown impressive performance in long-term demonstrations. In NASA’s Deep Space program, for example, an - tonomous spacecraft controller, called the Remote Agent [5], has autonomously performed a scienti?c experiment in space. At Carnegie Mellon University, Xavier [6], another autonomous mobile robot, navigated through an o?ce - vironment for more than a year, allowing people to issue navigation commands and monitor their execution via the Internet. In 1998, Minerva [7] acted for 13 days as a museum tourguide in the Smithsonian Museum, and led several thousand people through an exhibition. These autonomous robots have in common that they rely on plan-based c- trol in order to achieve better problem-solving competence. In the plan-based approach, robots generate control actions by maintaining and executing a plan that is e?ective and has a high expected utility with respect to the robots’ c- rent goals and beliefs. Plans are robot control programs that a robot can not only execute but also reason about and manipulate [4]. Thus, a plan-based c- troller is able to manage and adapt the robot’s intended course of action — the plan — while executing it and can thereby better achieve complex and changing tasks.

Mobile Robotic Car Design

Mobile Robotic Car Design Book
Author : Pushkin Kachroo,Patricia Mellodge
Publisher : McGraw Hill Professional
Release : 2005
ISBN : 9780071438704
Language : En, Es, Fr & De

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Book Description :

This book enables hobbyists to build their own robotic car, about 1/10th the size of a standard vehicle, for under $1000 -- and learn the mechanical and electrical theory and design secrets behind it. * Step-by-step instructions for building the vehicle, from theory and design to hardware and software implementation * Discussions on mathematical modeling, control design theory, sensors, servos, motors, controllers, and environmental sensing * Printed circuit board files for the car can be downloaded for free from accompanying website

Mechatronics and Machine Vision

Mechatronics and Machine Vision Book
Author : John Billingsley
Publisher : Research Studies PressLtd
Release : 2000
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Mechatronics is the blending of mechanics, electronics and computer control into an integrated design. It is the basis of an expanding list of products and techniques of great technical and commercial value. Ideas that were merely visions in the laboratory have emerged to find real applications in areas of vehicle guidance, robot aided inspection and agriculture. Low cost cameras developed for multimedia applications offer a whole new field of low-cost vision-based control through their ease of interfacing.

AN ADPATIVE MOTION CONTROLLER FOR A DIFFERENTIAL DRIVE MOBILE ROBOT

AN ADPATIVE MOTION CONTROLLER FOR A DIFFERENTIAL DRIVE MOBILE ROBOT Book
Author : L. FENG, Y. KOREN, J. BORENSTEIN
Publisher : Unknown
Release : 2021-04-13
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download AN ADPATIVE MOTION CONTROLLER FOR A DIFFERENTIAL DRIVE MOBILE ROBOT book written by L. FENG, Y. KOREN, J. BORENSTEIN, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Introduction to Robotics

Introduction to Robotics Book
Author : Saeed Niku
Publisher : John Wiley & Sons
Release : 2010-09-07
ISBN : 0470604468
Language : En, Es, Fr & De

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Book Description :

Niku offers comprehensive, yet concise coverage of robotics that will appeal to engineers. Robotic applications are drawn from a wide variety of fields. Emphasis is placed on design along with analysis and modeling. Kinematics and dynamics are covered extensively in an accessible style. Vision systems are discussed in detail, which is a cutting-edge area in robotics. Engineers will also find a running design project that reinforces the concepts by having them apply what they’ve learned.

Robotics

Robotics Book
Author : Bruno Siciliano,Lorenzo Sciavicco,Luigi Villani,Giuseppe Oriolo
Publisher : Springer Science & Business Media
Release : 2010-08-20
ISBN : 1846286417
Language : En, Es, Fr & De

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Book Description :

Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.

Knowledge based Artificial Intelligence Systems in Aerospace and Industry

Knowledge based Artificial Intelligence Systems in Aerospace and Industry Book
Author : American Association for Artificial Intelligence
Publisher : Society of Photo Optical
Release : 1994
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Knowledge based Artificial Intelligence Systems in Aerospace and Industry book written by American Association for Artificial Intelligence, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Intelligent Autonomous Vehicles

Intelligent Autonomous Vehicles Book
Author : Anonim
Publisher : Unknown
Release : 2001
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Intelligent Autonomous Vehicles book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

ROSint Integration of a mobile robot in ROS architecture

ROSint   Integration of a mobile robot in ROS architecture Book
Author : André Gonçalves Araújo
Publisher : University of Coimbra
Release : 2012-07-01
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

The goal of this work is to provide hardware abstraction and intuitive operation modes to decrease the development and implementation time of robotic platforms, thus allowing researchers to focus in their main scientific research motivations, e.g., search and rescue, multi-robot surveillance, swarm robotics, among others. To that end, this work presents the development of a compact mobile low-cost robotic platform, denoted as TraxBot, developed and assembled at the Institute of Systems and Robotics (ISR), which has been fully integrated in the well-known Robot Operating System (ROS) framework. Furthermore, several available mobile robots are compared and discussed in terms of their physical dimensions, hardware, sensors, communication abilities, motion, maximum run time and special features. This provides support to the reader on the decision-making acquisition process of a cost-effective robotic platform. Beyond the survey’s results, the robotic system assembly, with a full description of its components as well as detailed information about the microcontroller programming, development and testing are also presented. The potentialities of the TraxBot are described, which combined with the herein presented ROS driver; provide several tools for data analysis and easiness of interaction between multiple robots, sensors and teleoperation devices. In order to validate the approach, several experimental tests were conducted using both real and mixed teams of real and virtual robots.

Introduction to AI Robotics

Introduction to AI Robotics Book
Author : Robin Murphy,Robin R.. Murphy,Ronald C. Arkin
Publisher : MIT Press
Release : 2000
ISBN : 9780262133838
Language : En, Es, Fr & De

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Book Description :

A comprehensive introduction to the AI approach to robotics, combining theoretical rigor and practical applications; with case studies and exercises. This text covers all the material needed to understand the principles behind the AI approach to robotics and to program an artificially intelligent robot for applications involving sensing, navigation, planning, and uncertainty. Robin Murphy is extremely effective at combining theoretical and practical rigor with a light narrative touch. In the overview, for example, she touches upon anthropomorphic robots from classic films and science fiction stories before delving into the nuts and bolts of organizing intelligence in robots. Following the overview, Murphy contrasts AI and engineering approaches and discusses what she calls the three paradigms of AI robotics: hierarchical, reactive, and hybrid deliberative/reactive. Later chapters explore multiagent scenarios, navigation and path-planning for mobile robots, and the basics of computer vision and range sensing. Each chapter includes objectives, review questions, and exercises. Many chapters contain one or more case studies showing how the concepts were implemented on real robots. Murphy, who is well known for her classroom teaching, conveys the intellectual adventure of mastering complex theoretical and technical material. An Instructor's Manual including slides, solutions, sample tests, and programming assignments is available to qualified professors who are considering using the book or who are using the book for class use.