Introduction to Mobile Robot Control

1st Edition

Authors: Spyros Tzafestas
Hardcover ISBN: 9780124170490
eBook ISBN: 9780124171039
Imprint: Elsevier
Published Date: 1st October 2013
Page Count: 750
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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.

Key Features

  • 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


Researchers and practitioners working on Robotics, Electronic and Electrical Engineering, Computer Science and Control Engineering.

Table of Contents



List of acknowledged authors and collaborators

Principal symbols and acronyms

Quotations about robotics

1. Mobile Robots: General Concepts

1.1 Introduction

1.2 Definition and History of Robots

1.3 Ground Robot Locomotion


2. Mobile Robot Kinematics

2.1 Introduction

2.2 Background Concepts

2.3 Nonholonomic Mobile Robots

2.4 Omnidirectional WMR Kinematic Modeling


3. Mobile Robot Dynamics

3.1 Introduction

3.2 General Robot Dynamic Modeling

3.3 Differential-Drive WMR

3.4 Car-Like WMR Dynamic Model

3.5 Three-Wheel Omnidirectional Mobile Robot

3.6 Four Mecanum-Wheel Omnidirectional Robot


4. Mobile Robot Sensors

4.1 Introduction

4.2 Sensor Classification and Characteristics

4.3 Position and Velocity Sensors

4.4 Distance Sensors

4.5 Robot Vision

4.6 Some Other Robotic Sensors

4.7 Global Positioning System

4.8 Appendix: Lens and Camera Optics


5. Mobile Robot Control I: The Lyapunov-Based Method

5.1 Introduction

5.2 Background Concepts

5.3 General Robot Controllers

5.4 Control of Differential Drive Mobile Robot

5.5 Computed Torque Control of Differential Drive Mobile Robot

5.6 Car-Like Mobile Robot Control

5.7 Omnidirectional Mobile Robot Control


6. Mobile Robot Control II: Affine Systems and Invariant Manifold Methods

6.1 Introduction

6.2 Background Concepts

6.3 Feedback Linearization of Mobile Robots

6.4 Mobile Robot Feedback Stabilizing Control Using Invariant Manifolds


7. Mobile Robot Control III: Adaptive and Robust Methods

7.1 Introduction

7.2 Background Concepts

7.3 Model Ref


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About the Author

Spyros Tzafestas

Affiliations and Expertise

School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece