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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

Mobile Robotics

Mobile Robotics Book
Author : Ulrich Nehmzow
Publisher : Springer Science & Business Media
Release : 2012-12-06
ISBN : 1447100255
Language : En, Es, Fr & De

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Book Description :

Mobile Robotics: A Practical Introduction (2nd edition) is an excellent introduction to the foundations and methods used for designing completely autonomous mobile robots. A fascinating, cutting-edge, research topic, autonomous mobile robotics is now taught in more and more universities. In this book you are introduced to the fundamental concepts of this complex field via twelve detailed case studies that show how to build and program real working robots. Topics covered in clued learning, autonomous navigation in unmodified, noisy and unpredictable environments, and high fidelity robot simulation. This new edition has been updated to include a new chapter on novelty detection, and provides a very practical introduction to mobile robotics for a general scientific audience. It is essential reading for 2nd and 3rd year undergraduate students and postgraduate students studying robotics, artificial intelligence, cognitive science and robot engineering. The update and overview of core concepts in mobile robotics will assist and encourage practitioners of the field and set challenges to explore new avenues of research in this exiting field. The author is Senior Lecturer at the Department of Computer Science at the University of Essex. "A very fine overview over the relevant problems to be solved in the attempt to bring intelligence to a moving vehicle." Professor Dr. Ewald von Puttkamer, University of Kaiserslautern "Case studies show ways of achieving an impressive repertoire of kinds of learned behaviour, navigation and map-building. The book is an admirable introduction to this modern approach to mobile robotics and certainly gives a great deal of food for thought. This is an important and though-provoking book." Alex M. Andrew in Kybernetes Vol 29 No 4 and Robotica Vol 18

Autonomous Land Vehicles

Autonomous Land Vehicles Book
Author : Karsten Berns,Ewald Puttkamer
Publisher : Springer Science & Business Media
Release : 2010-02-23
ISBN : 383489334X
Language : En, Es, Fr & De

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Book Description :

The economic potential of autonomous mobile robots will increase tremendously during the next years. Service robots such as cleaning machines and inspection or assistance robots will bring us great support in our daily lives. This textbook provides an introduction to the methods of controlling these robotic systems. Starting from mobile robot kinematics, the reader receives a systematic overview of the basic problems as well as methods and algorithms used for solving them. Localisation, object recognition, map building, navigation and control architectures for autonomous vehicles will be discussed in detail. In conclusion, a survey of specific service robot applications is included as well. This book is a very useful introduction to mobile robotics for beginners as well as advanced students and engineers.

Introduction to Autonomous Mobile Robots second edition

Introduction to Autonomous Mobile Robots  second edition Book
Author : Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza
Publisher : MIT Press
Release : 2011-02-18
ISBN : 0262295091
Language : En, Es, Fr & De

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Book Description :

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.

Handbook of Research on Advancements in Robotics and Mechatronics

Handbook of Research on Advancements in Robotics and Mechatronics Book
Author : Habib, Maki K.
Publisher : IGI Global
Release : 2014-12-31
ISBN : 1466673885
Language : En, Es, Fr & De

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Book Description :

The field of mechatronics integrates modern engineering science and technologies with new ways of thinking, enhancing the design of products and manufacturing processes. This synergy enables the creation and evolution of new intelligent human-oriented machines. The Handbook of Research on Advancements in Robotics and Mechatronics presents new findings, practices, technological innovations, and theoretical perspectives on the the latest advancements in the field of mechanical engineering. This book is of great use to engineers and scientists, students, researchers, and practitioners looking to develop autonomous and smart products and systems for meeting today’s challenges.

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,Oscar Castillo,Fatih Kocamaz
Publisher : Springer Nature
Release : 2021-03-01
ISBN : 3030692477
Language : En, Es, Fr & De

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Book Description :

The book includes topics, such as: path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control. The theoretical concepts are illustrated with a developed control architecture with soft computing and artificial intelligence methods. The proposed vision-based motion control strategy involves three stages. The first stage consists of the overhead camera calibration and the configuration of the working environment. The second stage consists of a path planning strategy using several traditional path planning algorithms and proposed planning algorithm. The third stage consists of the path tracking process using previously developed Gauss and Decision Tree control approaches and the proposed Type-1 and Type-2 controllers. Two kinematic structures are utilized to acquire the input values of controllers. These are Triangle Shape-Based Controller Design, which was previously developed and Distance-Based Triangle Structure that is used for the first time in conducted experiments. Four different control algorithms, Type-1 fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and Gaussian Control have been used in overall system design. The developed system includes several modules that simplify characterizing the motion control of the robot and ensure that it maintains a safe distance without colliding with any obstacles on the way to the target. The topics of the book are extremely relevant in many areas of research, as well as in education in courses in computer science, electrical and mechanical engineering and in mathematics at the graduate and undergraduate levels.

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.

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.

Wheeled Mobile Robot Control

Wheeled Mobile Robot Control Book
Author : Nardênio Almeida Martins,Douglas Wildgrube Bertol
Publisher : Springer Nature
Release : 2021
ISBN : 3030779122
Language : En, Es, Fr & De

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Book Description :

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.

New Trends in Robot Control

New Trends in Robot Control Book
Author : Jawhar Ghommam,Nabil Derbel,Quanmin Zhu
Publisher : Springer Nature
Release : 2020-02-13
ISBN : 981151819X
Language : En, Es, Fr & De

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Book Description :

This book presents solutions to control problems in a number of robotic systems and provides a wealth of worked-out examples with full analytical and numerical details, graphically illustrated to aid in reader comprehension. It also presents relevant studies on and applications of robotic system control approaches, as well as the latest findings from interdisciplinary theoretical studies. Featuring chapters on advanced control (fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis, and fault-tolerant control), the book will equip readers to easily tailor the techniques to their own applications. Accordingly, it offers a valuable resource for researchers, engineers, and students in the field of robotic systems.

Soft Computing for Intelligent Control and Mobile Robotics

Soft Computing for Intelligent Control and Mobile Robotics Book
Author : Oscar Castillo,Witold Pedrycz
Publisher : Springer
Release : 2010-10-05
ISBN : 3642155340
Language : En, Es, Fr & De

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Book Description :

This book describes in a detailed fashion the application of hybrid intelligent systems using soft computing techniques for intelligent control and mobile robotics. Soft Computing (SC) consists of several intelligent computing paradigms, including fuzzy logic, neural networks, and bio-inspired optimization algorithms, which can be used to produce powerful hybrid intelligent systems. The prudent combination of SC techniques can produce powerful hybrid intelligent systems that are capable of solving real-world problems. This is illustrated in this book with a wide range of applications, with particular emphasis in intelligent control and mobile robotics. The book is organized in five main parts, which contain a group of papers around a similar subject. The first part consists of papers with the main theme of theory and algorithms, which are basically papers that propose new models and concepts, which can be the basis for achieving intelligent control and mobile robotics. The second part contains papers with the main theme of intelligent control, which are basically papers using bio-inspired techniques, like evolutionary algorithms and neural networks, for achieving intelligent control of non-linear plants. The third part contains papers with the theme of optimization of fuzzy controllers, which basically consider the application of bio-inspired optimization methods to automate the de-sign process of optimal type-1 and type-2 fuzzy controllers. The fourth part contains papers that deal with the application of SC techniques in times series prediction and intelligent agents. The fifth part contains papers with the theme of computer vision and robotics, which are papers considering soft computing methods for applications related to vision and robotics.

Robot Vision

Robot Vision Book
Author : Ales Ude
Publisher : BoD – Books on Demand
Release : 2010-03-01
ISBN : 9533070773
Language : En, Es, Fr & De

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Book Description :

The purpose of robot vision is to enable robots to perceive the external world in order to perform a large range of tasks such as navigation, visual servoing for object tracking and manipulation, object recognition and categorization, surveillance, and higher-level decision-making. Among different perceptual modalities, vision is arguably the most important one. It is therefore an essential building block of a cognitive robot. This book presents a snapshot of the wide variety of work in robot vision that is currently going on in different parts of the world.

Interfacing Humans and Robots for Gait Assistance and Rehabilitation

Interfacing Humans and Robots for Gait Assistance and Rehabilitation Book
Author : Carlos A. Cifuentes,Marcela Múnera
Publisher : Springer Nature
Release : 2021-09-16
ISBN : 3030796302
Language : En, Es, Fr & De

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Book Description :

The concepts represented in this textbook are explored for the first time in assistive and rehabilitation robotics, which is the combination of physical, cognitive, and social human-robot interaction to empower gait rehabilitation and assist human mobility. The aim is to consolidate the methodologies, modules, and technologies implemented in lower-limb exoskeletons, smart walkers, and social robots when human gait assistance and rehabilitation are the primary targets. This book presents the combination of emergent technologies in healthcare applications and robotics science, such as soft robotics, force control, novel sensing methods, brain-computer interfaces, serious games, automatic learning, and motion planning. From the clinical perspective, case studies are presented for testing and evaluating how those robots interact with humans, analyzing acceptance, perception, biomechanics factors, and physiological mechanisms of recovery during the robotic assistance or therapy. Interfacing Humans and Robots for Gait Assistance and Rehabilitation will enable undergraduate and graduate students of biomedical engineering, rehabilitation engineering, robotics, and health sciences to understand the clinical needs, technology, and science of human-robot interaction behind robotic devices for rehabilitation, and the evidence and implications related to the implementation of those devices in actual therapy and daily life applications.

Robotics for Sustainable Future

Robotics for Sustainable Future Book
Author : Daisuke Chugo,M. O. Tokhi,Manuel F. Silva,Taro Nakamura,Khaled Goher
Publisher : Springer Nature
Release : 2022
ISBN : 3030862941
Language : En, Es, Fr & De

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Book Description :

This book presents the proceedings of 24th International Conference Series on Climbing and Walking Robots. CLAWAR 2021 is the twenty-fourth edition of International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines. The conference is organized by CLAWAR Association in collaboration with Kwansei Gakuin University on a virtual platform in Takarazuka, Japan, during 30 August-1 September 2021. CLAWAR 2021 brings new developments and new research findings in robotics technologies within the framework of Robotics for Sustainable Future. The topics covered include biped locomotion, human-machine/human-robot interaction, innovative actuators, power supplies and design of CLAWAR, inspection, legged locomotion, modelling and simulation of CLAWAR, outdoor and field robotics, planning and control, and wearable devices and assistive robotics. The intended readership includes participants of CLAWAR 2021 conference, international robotic researchers, scientists, professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.

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

Intelligent Robotics and Applications

Intelligent Robotics and Applications Book
Author : YongAn Huang,Hao Wu,Honghai Liu,Zhouping Yin
Publisher : Springer
Release : 2017-08-04
ISBN : 3319652982
Language : En, Es, Fr & De

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Book Description :

The three volume set LNAI 10462, LNAI 10463, and LNAI 10464 constitutes the refereed proceedings of the 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017, held in Wuhan, China, in August 2017. The 235 papers presented in the three volumes were carefully reviewed and selected from 310 submissions. The papers in this third volume of the set are organized in topical sections on sensors and actuators; mobile robotics and path planning; virtual reality and artificial intelligence; aerial and space robotics; mechatronics and intelligent manufacturing.

Entertainment Computing ICEC 2010

Entertainment Computing   ICEC 2010 Book
Author : Hyun Seung Yang,Rainer Malaka,Junichi Hoshino,Jung Hyun Han
Publisher : Springer Science & Business Media
Release : 2010-08-11
ISBN : 3642153984
Language : En, Es, Fr & De

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Book Description :

This book constitutes the thoroughly refereed proceedings of the 9th International Conference on Entertainment Computing, ICEC 2010, held in Seoul, Korea, in August 2010, under the auspices of IFIP. The 19 revised long papers, 27 short papers and 33 poster papers and demos presented were carefully reviewed and selected from numerous submissions for inclusion in the book. The papers cover all main domains of entertainment computing, from interactive music to games, taking a wide range of scientific domains from aesthetic to computer science.

Computing Control Information and Education Engineering

Computing  Control  Information and Education Engineering Book
Author : Hsiang-Chuan Liu,Wen-Pei Sung,Wenli Yao
Publisher : CRC Press
Release : 2015-08-18
ISBN : 1315685892
Language : En, Es, Fr & De

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Book Description :

This proceedings set contains selected Computer, Information and Education Technology related papers from the 2015 International Conference on Computer, Intelligent Computing and Education Technology (CICET 2015), to be held April 11-12, 2015 in Guilin, P.R. China. The proceedings aims to provide a platform for researchers, engineers and academics

Recent Advances in Intelligent Manufacturing

Recent Advances in Intelligent Manufacturing Book
Author : Shilong Wang,Mark Price,Ming K. Lim,Yan Jin,Yuanxin Luo,Rui Chen
Publisher : Springer
Release : 2018-09-04
ISBN : 9811323968
Language : En, Es, Fr & De

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Book Description :

The three-volume set CCIS 923, CCIS 924, and CCIS 925 constitutes the thoroughly refereed proceedings of the First International Conference on Intelligent Manufacturing and Internet of Things, and of the 5th International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2018, held in Chongqing, China, in September 2018.The 135 revised full papers presented were carefully reviewed and selected from over 385 submissions.The papers of this volume are organized in topical sections on: digital manufacturing; industrial product design; logistics, production and operation management; manufacturing material; manufacturing optimization; manufacturing process; mechanical transmission system; robotics.

Recent Advances in Mobile Robotics

Recent Advances in Mobile Robotics Book
Author : Andon Topalov
Publisher : BoD – Books on Demand
Release : 2011-12-14
ISBN : 9533079096
Language : En, Es, Fr & De

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Book Description :

Mobile robots are the focus of a great deal of current research in robotics. Mobile robotics is a young, multidisciplinary field involving knowledge from many areas, including electrical, electronic and mechanical engineering, computer, cognitive and social sciences. Being engaged in the design of automated systems, it lies at the intersection of artificial intelligence, computational vision, and robotics. Thanks to the numerous researchers sharing their goals, visions and results within the community, mobile robotics is becoming a very rich and stimulating area. The book Recent Advances in Mobile Robotics addresses the topic by integrating contributions from many researchers around the globe. It emphasizes the computational methods of programming mobile robots, rather than the methods of constructing the hardware. Its content reflects different complementary aspects of theory and practice, which have recently taken place. We believe that it will serve as a valuable handbook to those who work in research and development of mobile robots.