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Wheeled Mobile Robotics

Wheeled Mobile Robotics Book
Author : Gregor Klancar,Andrej Zdesar,Saso Blazic,Igor Skrjanc
Publisher : Butterworth-Heinemann
Release : 2017-02-02
ISBN : 0128042389
Language : En, Es, Fr & De

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Book Description :

Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners Includes several examples of the application of algorithms in simulations and real laboratory projects Presents foundation in mobile robotics theory before continuing with more advanced topics Self-sufficient to beginner readers, covering all important topics in the mobile robotics field Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems

Wheeled Mobile Robot Control

Wheeled Mobile Robot Control Book
Author : Nardênio Almeida Martins,Douglas Wildgrube Bertol
Publisher : Springer
Release : 2021-09-12
ISBN : 9783030779115
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.

Wheeled Mobile Robot

Wheeled Mobile Robot Book
Author : Mohammed Majid Al Khalidy,Rami A. Mahir,Mohammed Zeki Al-Faiz
Publisher : LAP Lambert Academic Publishing
Release : 2012-04
ISBN : 9783659106798
Language : En, Es, Fr & De

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Book Description :

Robotics is one of the most exciting Technology fields in modern science. Conventional wheels are the most widely used among wheeled mobile robots WMRs with wheeled locomotion. These wheels are simple to construct, require little maintenance, provide smooth motion, offer high load-carrying capacity and they are cheap. The main contribution of this Book is to present and discuss a new approach for development of a kinematic model and control strategy for a nonholonomic wheeled mobile robot. Vision is an important aspect of robotics and can sometimes be one of the only ways to make a robot fully capable of maneuvering in any situation. This Book presents a novel computer vision methodology for building a system capable of determining the presence of a path follower, tracking the objects on that path, and recognizing the objects shape. The Book addresses three important topics in mobile robotics. These are the path follower, the multi-sensors and the steering fuzzy controllers for wheeled mobile robot.

Wheeled Mobile Robotics

Wheeled Mobile Robotics Book
Author : Gregor Klancar,Andrej Zdesar,Saso Blazic,Igor Skrjanc
Publisher : Unknown
Release : 2017
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systems covers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners Includes several examples of the application of algorithms in simulations and real laboratory projects Presents foundation in mobile robotics theory before continuing with more advanced topics Self-sufficient to beginner readers, covering all important topics in the mobile robotics field Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems.

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

Nonlinear Control of Wheeled Mobile Robots

Nonlinear Control of Wheeled Mobile Robots Book
Author : Warren E. Dixon,Darren M. Dawson,Erkan Zergeroglu,Aman Behal
Publisher : Lecture Notes in Control and I
Release : 2001-01-29
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results. The final chapter describes how the control techniques developed for wheeled mobile robots can be applied to solve other problems with similar governing differential equations (e.g., twin rotor helicopters, surface vessels). Several appendices are included to provide the reader with the mathematical background utilized in the control development and stability analysis. Two appendices are also included that provide specific details with regard to the modifications that were done to commercially available mobile robots (e.g., a K2A manufactured by Cybermotion Inc. and a Pioneer II manufactured by Activemedia) to experimentally demonstrate the performance of the torque input controllers.

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.

Visual Control of Wheeled Mobile Robots

Visual Control of Wheeled Mobile Robots Book
Author : Héctor . M Becerra,Carlos Sagüés
Publisher : Springer
Release : 2014-03-26
ISBN : 3319057839
Language : En, Es, Fr & De

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Book Description :

Vision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots. In this problem, the robot has to reach a desired position and orientation, which are specified by a target image. It is faced in such a way that vision and control are unified to achieve stability of the closed loop, a large region of convergence, without local minima and good robustness against parametric uncertainty. Three different control schemes that rely on monocular vision as unique sensor are presented and evaluated experimentally. A common benefit of these approaches is that they are valid for imaging systems obeying approximately a central projection model, e.g., conventional cameras, catadioptric systems and some fisheye cameras. Thus, the presented control schemes are generic approaches. A minimum set of visual measurements, integrated in adequate task functions, are taken from a geometric constraint imposed between corresponding image features. Particularly, the epipolar geometry and the trifocal tensor are exploited since they can be used for generic scenes. A detailed experimental evaluation is presented for each control scheme.

Mobile Robots

Mobile Robots Book
Author : Zoran Gacovski
Publisher : BoD – Books on Demand
Release : 2011-10-26
ISBN : 9533077166
Language : En, Es, Fr & De

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Book Description :

This book consists of 18 chapters divided in four sections: Robots for Educational Purposes, Health-Care and Medical Robots, Hardware - State of the Art, and Localization and Navigation. In the first section, there are four chapters covering autonomous mobile robot Emmy III, KCLBOT - mobile nonholonomic robot, and general overview of educational mobile robots. In the second section, the following themes are covered: walking support robots, control system for wheelchairs, leg-wheel mechanism as a mobile platform, micro mobile robot for abdominal use, and the influence of the robot size in the psychological treatment. In the third section, there are chapters about I2C bus system, vertical displacement service robots, quadruped robots - kinematics and dynamics model and Epi.q (hybrid) robots. Finally, in the last section, the following topics are covered: skid-steered vehicles, robotic exploration (new place recognition), omnidirectional mobile robots, ball-wheel mobile robots, and planetary wheeled mobile robots.

Autonomous Mobile Robots in Unknown Outdoor Environments

Autonomous Mobile Robots in Unknown Outdoor Environments Book
Author : Xiaorui Zhu,Youngshik Kim,Mark A. Minor,Chunxin Qiu
Publisher : CRC Press
Release : 2017-12-15
ISBN : 1351647539
Language : En, Es, Fr & De

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Book Description :

Mobile robots have been increasingly applied in many different scenarios, such as space exploration and search and rescue, where the robots are required to travel over uneven terrain while outdoors. This book provides a new framework and the related algorithms for designing autonomous mobile robotic systems in such unknown outdoor environments.

Computational Principles of Mobile Robotics

Computational Principles of Mobile Robotics Book
Author : Gregory Dudek,Michael Jenkin
Publisher : Cambridge University Press
Release : 2010-07-26
ISBN : 0521692121
Language : En, Es, Fr & De

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Book Description :

An advanced undergraduate/graduate text, emphasizing computation and algorithms for locomotion, sensing, and reasoning in mobile robots.

Trajectory temporal Planning of a Wheeled Mobile Robot

Trajectory temporal Planning of a Wheeled Mobile Robot Book
Author : Anonim
Publisher : Unknown
Release : 2001
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

In order for a mobile robot to complete its task it must be able to plan and follow a trajectory. Depending on the environment, it may also be necessary to follow a given velocity profile. This is known as temporal planning. Temporal planning can be used to minimize time of motion and to avoid moving obstacles. For example, assuming the mobile robot is an intelligent wheelchair, it must follow a prescribed path (sidewalk, hospital corridor) while following a strict speed limit (slowing down for pedestrians, cars). Computing a realistic velocity profile for a mobile robot is a challenging task due to a large number of kinematic and dynamic constraints that are involved. Unlike prior works which performed temporal planning in a 2-dimensional environment, this thesis presents a new temporal planning algorithm in a 3-dimensional environment. This algorithm is implemented on a wheeled mobile robot that is to be used in a healthcare setting. The path planning stage is accomplished by using cubic spline functions. A rudimentary trajectory is created by assigning an arbitrary time to each segment of the path. This trajectory is made feasible by applying a number of constraints and using a linear scaling technique. When a velocity profile is provided, a non-linear time scaling technique is used to fit the robots center linear velocity to the specified velocity. A method for avoiding moving obstacles is also implemented. Both simulation and experimental results for the wheeled mobile robot are presented. These results show good agreement with each other. For both simulation and experimentation, six different examples of paths in the Engineering Building of the University of Saskatchewan, were used. Experiments were performed using the PowerBot mobile robot in the robotics lab at the University of Saskatchewan.

Mobile Robotics for Multidisciplinary Study

Mobile Robotics for Multidisciplinary Study Book
Author : Carolotta Berry
Publisher : Morgan & Claypool Publishers
Release : 2012-03-01
ISBN : 1608457990
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

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 : 0262015358
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.

Robotics

Robotics Book
Author : Appin Knowledge Solutions,
Publisher : Jones & Bartlett Learning
Release : 2008-10-16
ISBN : 1449631576
Language : En, Es, Fr & De

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Book Description :

This up-to-date text and reference is designed to present the fundamental principles of robotics with a strong emphasis on engineering applications and industrial solutions based on robotic technology. It can be used by practicing engineers and scientists -- or as a text in standard university courses in robotics. The book has extensive coverage of the major robotic classifications, including Wheeled Mobile Robots, Legged Robots, and the Robotic Manipulator. A central theme is the importance of kinematics to robotic principles. The book is accompanied by a CD-ROM with MATLAB simulations.

Emerging Trends in Mobile Robotics

Emerging Trends in Mobile Robotics Book
Author : Hideo Fujimoto
Publisher : World Scientific
Release : 2010
ISBN : 9814329924
Language : En, Es, Fr & De

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Book Description :

This book provides a comprehensive account of stochastic filtering as a modeling tool in finance and economics. It aims to present this very important tool with a view to making it more popular among researchers in the disciplines of finance and economics. It is not intended to give a complete mathematical treatment of different stochastic filtering approaches, but rather to describe them in simple terms and illustrate their application with real historical data for problems normally encountered in these disciplines. Beyond laying out the steps to be implemented, the steps are demonstrated in the context of different market segments. Although no prior knowledge in this area is required, the reader is expected to have knowledge of probability theory as well as a general mathematical aptitude. Its simple presentation of complex algorithms required to solve modeling problems in increasingly sophisticated financial markets makes this book particularly valuable as a reference for graduate students and researchers interested in the field. Furthermore, it analyses the model estimation results in the context of the market and contrasts these with contemporary research publications. It is also suitable for use as a text for graduate level courses on stochastic modeling.

Nature Inspired Mobile Robotics

Nature Inspired Mobile Robotics Book
Author : Kenneth J Waldron,Mohammad O Tokhi,Gurvinder S Virk
Publisher : World Scientific
Release : 2013-06-26
ISBN : 9814525545
Language : En, Es, Fr & De

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Book Description :

The proceedings provide state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and assistive technologies. The proceedings collected together peer reviewed articles presented at the CLAWAR 2013 conference. It contains a strong showing of articles on legged locomotion with numbers of legs from two onwards. There is also a good collection of articles on systems that walls climbing, poles balancing, and other more complex structures following the traditional of CLAWAR themes. In addition, the proceedings also cover the subject of robot-human interaction, which focus on a more “human” way of communicating with humanoid robots. As for human assistive devices, proceedings also cover exoskeletal and prosthetic devices, robots for personal and nursing cares to address the issues of ageing population in our society. Finally, the issue of the deployment of robots in society, it social and ethically consideration are also addressed in the proceedings. Contents:Plenary PresentationsAssistive RoboticsAutonomous RobotsBiologically-Inspired Systems and SolutionsHMI, Inspection and LearningInnovative Design of CLAWARLocomotionManipulation and GrippingModelling and Simulation of CLAWARPlanning and ControlPositioning, Localization and PerceptionSensing and Sensor FusionService Robot Standards and Standardization Readership: Systems and control engineers, electrical engineers, mechanical engineers in academic, research and industrial settings; engineers and practitioners in the public services sectors in health care, manufacturing, supply and delivery services. Keywords:Assistive Robotics;Autonomous Robots;Biologically Inspired Robotics;CLAWAR;Climbing and Walking Robots;Design of CLAWAR;Hybrid Locomotion;Legged Locomotion;Mobile Robots;Modeling and Simulation;Planning and Control;Robot Standardization;Service Robotics;Wheeled Locomotion

Adaptive Mobile Robotics

Adaptive Mobile Robotics Book
Author : Abul K. M. Azad,N. J. Cowan
Publisher : World Scientific
Release : 2012
ISBN : 9814415944
Language : En, Es, Fr & De

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Book Description :

This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

Mobile Robotics

Mobile Robotics Book
Author : Alonzo Kelly
Publisher : Cambridge University Press
Release : 2013-11-11
ISBN : 1107434548
Language : En, Es, Fr & De

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Book Description :

Mobile Robotics offers comprehensive coverage of the essentials of the field suitable for both students and practitioners. Adapted from Alonzo Kelly's graduate and undergraduate courses, the content of the book reflects current approaches to developing effective mobile robots. Professor Kelly adapts principles and techniques from the fields of mathematics, physics and numerical methods to present a consistent framework in a notation that facilitates learning and highlights relationships between topics. This text was developed specifically to be accessible to senior level undergraduates in engineering and computer science, and includes supporting exercises to reinforce the lessons of each section. Practitioners will value Kelly's perspectives on practical applications of these principles. Complex subjects are reduced to implementable algorithms extracted from real systems wherever possible, to enhance the real-world relevance of the text.