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Full 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.
Contents
1.Mobile Robots: General Concepts2.Mobile Robot Kinematics3.Mobile Robot Dynamics4.Mobile Robot Sensors5.Mobile Robot Control I: The Lyapunov-Based Method6.Mobile Robot Control II: Affine Systems and Invariant Manifold Methods7.Mobile Robot Control III: Adaptive and Robust Methods8.Mobile Robot Control IV: Fuzzy and Neural Methods9.Mobile Robot Control V: Vision-Based Methods10.Mobile Manipulator Modeling and Control11.Mobile Robot Path, Motion, and Task Planning12.Mobile Robot Localization and Mapping13.Experimental Studies14.Generic Systemic and Software Architectures for Mobile Robot Intelligent Control15.Mobile Robots at Work16.Problems
