Presents the normal kinematic and dynamic equations for robots,
including mobile robots, with coordinate transformations and various
control strategies
This fully updated edition examines the use of mobile robots for sensing
objects of interest, and focus primarily on control, navigation, and
remote sensing. It also includes an entirely new section on modeling and
control of autonomous underwater vehicles (AUVs), which exhibits unique
complex three-dimensional dynamics.
Mobile Robots: Navigation, Control and Sensing, Surface Robots and
AUVs, Second Edition starts with a chapter on kinematic models for
mobile robots. It then offers a detailed chapter on robot control,
examining several different configurations of mobile robots. Following
sections look at robot attitude and navigation. The application of
Kalman Filtering is covered. Readers are also provided with a section on
remote sensing and sensors. Other chapters discuss: target tracking,
including multiple targets with multiple sensors; obstacle mapping and
its application to robot navigation; operating a robotic manipulator;
and remote sensing via UAVs. The last two sections deal with the
dynamics modeling of AUVs and control of AUVs. In addition, this text:
- Includes two new chapters dealing with control of underwater vehicles
- Covers control schemes including linearization and use of linear
control design methods, Lyapunov stability theory, and more
- Addresses the problem of ground registration of detected objects of
interest given their pixel coordinates in the sensor frame
- Analyzes geo-registration errors as a function of sensor precision and
sensor pointing uncertainty
Mobile Robots: Navigation, Control and Sensing, Surface Robots and
AUVs is intended for use as a textbook for a graduate course of the
same title and can also serve as a reference book for practicing
engineers working in related areas.
