Mobile Robots

Gerald Cook 지음

Wiley-IEEE Press 2011년 10월 14일 출간

작품소개

책소개

An important feature of this book is the particular combination of topics included. These are (1) control, (2) navigation and (3) remote sensing, all with application to mobile robots. Much of the material is readily extended to any type ground vehicle.In the controls area, robot steering is the issue. Both linear and nonlinear models are treated. Various control schemes are utilized, and through these applications the reader is introduced to methods such as: (1) Linearization and use of linear control design methods for control about a reference trajectory, (2) Use of Lyapunov stability theory for nonlinear control design, (3) Derivation of optimal control strategies via Pontryagin's maximum principle, (4) Derivation of a local coordinate system which is fundamental for the steering of vehicles along a path never before traversed. This local coordinate system has application regardless of the control design methods utilized.In the navigation area, various coordinate systems are introduced, and the transformations among them are derived. (1) The Global Positioning System (GPS) is introduced and described in significant detail. (2) Also introduced and discussed are inertial navigation systems (INS). These two methods are treated in terms of their ability to provide vehicle position as well as attitude. A preceding chapter is devoted to coordinate rotations and transformations since they play an important role in the understanding of this body of theory.

목차

Preface xiIntroduction xiii1 Kinematic Models for Mobile Robots 11.0 Introduction, 11.1 Vehicles with Front-Wheel Steering, 11.2 Vehicles with Differential-Drive Steering, 5Exercises, 8References, 92 Mobile Robot Control 112.0 Introduction, 112.1 Front-Wheel Steered Vehicle, Heading Control, 112.2 Front-Wheel Steered Vehicle, Speed Control, 222.3 Heading and Speed Control for the Differential-Drive Robot, 232.4 Reference Trajectory and Incremental Control, Front-Wheel Steered Robot, 262.5 Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model, 322.6 Computed Control for Heading and Velocity, Front-Wheel Steered Robot, 362.7 Heading Control of Differential Drive Robot Using the Nonlinear Model, 382.8 Computed Control for Heading and Velocity, Differential-Drive Robot, 392.9 Steering Control Along a Path Using a Local Coordinate Frame, 412.10 Optimal Steering of Front-Wheel Steered Vehicle, 542.11 Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle, 75Exercises, 77References, 783 Robot Attitude 793.0 Introduction, 793.1 Defi nition of Yaw, Pitch and Roll, 793.2 Rotation Matrix for Yaw, 803.3 Rotation Matrix for Pitch, 823.4 Rotation Matrix for Roll, 843.5 General Rotation Matrix, 863.6 Homogeneous Transformation, 883.7 Rotating a Vector, 92Exercises, 93References, 944 Robot Navigation 954.0 Introduction, 954.1 Coordinate Systems, 954.2 Earth-Centered Earth-Fixed Coordinate System, 964.3 Associated Coordinate Systems, 984.4 Universal Transverse Mercator (UTM) Coordinate System, 1024.5 Global Positioning System, 1044.6 Computing Receiver Location Using GPS, Numerical Methods, 1084.6.1 Computing Receiver Location Using GPS via Newton&-s Method, 1084.6.2 Computing Receiver Location Using GPS via Minimization of a Performance Index, 1164.7 Array of GPS Antenna

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저자(글) Gerald Cook

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GERALD COOK, ScD, is the Earle C. Williams Professor 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 professor of electrical engineering at the University of Virginia. He is a Life Fellow of the Institute of Electrical and Electronics Engineers (IEEE), as well as a recipient of the IEEE Centennial Award and the IEEE Industrial Electronics Society (IES) Mittelmann Achievement Award. He is a former president of the IEEE Industrial Electronics Society and a former editor~in-chief of the IEEE Transactions on Industrial Electronics.