Mobile Robotics
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Mobile Robotics presents the different tools and methods that enable the design of mobile robots; a discipline booming with the emergence of flying drones, underwater robots mine detectors, sailboats robots and robot vacuum cleaners. Illustrated with simulations, exercises and examples, this book describes the fundamentals of modeling robots, developing the actuator concepts, sensor, control and guidance. Three-dimensional simulation tools are also explored, as well as the theoretical basis for reliable localization of robots within their environment.
Key Features
- Illustrates simulation, corrected exercises and examples
- Explores different tools and methods to enable you to design mobile robots
- Features three-dimensional simulation tools as well as the theoretical explanation
Readership
Researchers and practitioners working on Robotics, Electronic and Electrical Engineering, Computer Science and Control Engineering.
Table of Contents
-
- Introduction
- 1: Three-dimensional Modeling
- Abstract
- 1.1 Rotation matrices
- 1.2 Euler angles
- 1.3 Kinematic model of a solid robot
- 1.4 Exercises
- 1.5 Corrections
- 2: Feedback Linearization
- Abstract
- 2.1 Controlling an integrator chain
- 2.2 Introductory example
- 2.3 Principle of the method
- 2.4 Cart
- 2.5 Controlling a tricycle
- 2.6 Sailboat
- 2.7 Kinematic model and dynamic model
- 2.8 Exercises
- 2.9 Corrections
- 3: Model-free Control
- Abstract
- 3.1 Model-free control of a robot cart
- 3.2 Skate car
- 3.3 Sailboat
- 3.4 Exercises
- 3.5 Corrections
- 4: Guidance
- Abstract
- 4.1 Guidance on a sphere
- 4.2 Path planning
- 4.3 Voronoi diagram
- 4.4 Artificial potential field method
- 4.5 Exercises
- 4.6 Corrections
- 5: Instantaneous Localization
- Abstract
- 5.1 Sensors
- 5.2 Goniometric localization
- 5.3 Multilateration
- 5.4 Exercises
- 5.5 Corrections
- 6: Identification
- Abstract
- 6.1 Quadratic functions
- 6.2 The least squares method
- 6.3 Exercises
- 6.4 Corrections
- 7: Kalman Filter
- Abstract
- 7.1 Covariance matrices
- 7.2 Unbiased orthogonal estimator
- 7.3 Application to linear estimation
- 7.4 Kalman filter
- 7.5 Kalman smoother
- 7.6 Exercises
- 7.7 Corrections
- Bibliography
- Index
Product details
- No. of pages: 314
- Language: English
- Copyright: © ISTE Press - Elsevier 2015
- Published: October 1, 2015
- Imprint: ISTE Press - Elsevier
- eBook ISBN: 9780081004814
- Hardcover ISBN: 9781785480485
About the Author
Luc Jaulin
Affiliations and Expertise
Professor of Robotics, ENSTA-Bretagne, LabSTICC, Technopole Brest-Iroise, Brest, France