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E-raamat: Mobile Robots: Navigation, Control and Remote Sensing

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  • Formaat: EPUB+DRM
  • Ilmumisaeg: 14-Oct-2011
  • Kirjastus: Wiley-IEEE Press
  • Keel: eng
  • ISBN-13: 9781118029046
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Mobile Robots: Navigation, Control and Remote SensingSuurem pilt
  • Formaat: EPUB+DRM
  • Ilmumisaeg: 14-Oct-2011
  • Kirjastus: Wiley-IEEE Press
  • Keel: eng
  • ISBN-13: 9781118029046
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"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 systemwhich 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"--

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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.

Preface xi
Introduction xiii
1 Kinematic Models for Mobile Robots
1(10)
1.0 Introduction
1(1)
1.1 Vehicles with Front-Wheel Steering
1(4)
1.2 Vehicles with Differential-Drive Steering
5(6)
Exercises
8(1)
References
9(2)
2 Mobile Robot Control
11(68)
2.0 Introduction
11(1)
2.1 Front-Wheel Steered Vehicle, Heading Control
11(11)
2.2 Front-Wheel Steered Vehicle, Speed Control
22(1)
2.3 Heading and Speed Control for the Differential-Drive Robot
23(3)
2.4 Reference Trajectory and Incremental Control, Front-Wheel Steered Robot
26(6)
2.5 Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model
32(4)
2.6 Computed Control for Heading and Velocity, Front-Wheel Steered Robot
36(2)
2.7 Heading Control of Differential Drive Robot Using the Nonlinear Model
38(1)
2.8 Computed Control for Heading and Velocity, Differential-Drive Robot
39(2)
2.9 Steering Control Along a Path Using a Local Coordinate Frame
41(13)
2.10 Optimal Steering of Front-Wheel Steered Vehicle
54(21)
2.11 Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle
75(4)
Exercises
77(1)
References
78(1)
3 Robot Attitude
79(16)
3.0 Introduction
79(1)
3.1 Definition of Yaw, Pitch and Roll
79(1)
3.2 Rotation Matrix for Yaw
80(2)
3.3 Rotation Matrix for Pitch
82(2)
3.4 Rotation Matrix for Roll
84(2)
3.5 General Rotation Matrix
86(2)
3.6 Homogeneous Transformation
88(4)
3.7 Rotating a Vector
92(3)
Exercises
93(1)
References
94(1)
4 Robot Navigation
95(54)
4.0 Introduction
95(1)
4.1 Coordinate Systems
95(1)
4.2 Earth-Centered Earth-Fixed Coordinate System
96(2)
4.3 Associated Coordinate Systems
98(4)
4.4 Universal Transverse Mercator (UTM) Coordinate System
102(2)
4.5 Global Positioning System
104(4)
4.6 Computing Receiver Location Using GPS, Numerical Methods
108(15)
4.6.1 Computing Receiver Location Using GPS via Newton's Method
108(8)
4.6.2 Computing Receiver Location Using GPS via Minimization of a Performance Index
116(7)
4.7 Array of GPS Antennas
123(3)
4.8 Gimbaled Inertial Navigation Systems
126(5)
4.9 Strap-Down Inertial Navigation Systems
131(6)
4.10 Dead Reckoning or Deduced Reckoning
137(1)
4.11 Inclinometer/Compass
138(11)
Exercises
142(5)
References
147(2)
5 Application of Kalman Filtering
149(42)
5.0 Introduction
149(1)
5.1 Estimating a Fixed Quantity Using Batch Processing
149(2)
5.2 Estimating a Fixed Quantity Using Recursive Processing
151(5)
5.3 Estimating the State of a Dynamic System Recursively
156(13)
5.4 Estimating the State of a Nonlinear System via the Extended Kalman Filter
169(22)
Exercises
185(4)
References
189(2)
6 Remote Sensing
191(34)
6.0 Introduction
191(1)
6.1 Camera Type Sensors
191(11)
6.2 Stereo Vision
202(4)
6.3 Radar Sensing: Synthetic Aperture Radar (SAR)
206(6)
6.4 Pointing of Range Sensor at Detected Object
212(5)
6.5 Detection Sensor in Scanning Mode
217(8)
Exercises
222(1)
References
223(2)
7 Target Tracking Including Multiple Targets with Multiple Sensors
225(22)
7.0 Introduction
225(1)
7.1 Regions of Confidence for Sensors
225(7)
7.2 Model of Target Location
232(7)
7.3 Inventory of Detected Targets
239(8)
Exercises
244(1)
References
245(2)
8 Obstacle Mapping and its Application to Robot Navigation
247(18)
8.0 Introduction
247(1)
8.1 Sensors for Obstacle Detection and Geo-Registration
248(1)
8.2 Dead Reckoning Navigation
249(3)
8.3 Use of Previously Detected Obstacles for Navigation
252(6)
8.4 Simultaneous Corrections of Coordinates of Detected Obstacles and of the Robot
258(7)
Exercises
262(1)
References
263(2)
9 Operating a Robotic Manipulator
265(30)
9.0 Introduction
265(1)
9.1 Forward Kinematic Equations
265(4)
9.2 Path Specification in Joint Space
269(2)
9.3 Inverse Kinematic Equations
271(5)
9.4 Path Specification in Cartesian Space
276(8)
9.5 Velocity Relationships
284(5)
9.6 Forces and Torques
289(6)
Exercises
292(1)
References
293(2)
10 Remote Sensing via UAVs
295(6)
10.0 Introduction
295(1)
10.1 Mounting of Sensors
295(1)
10.2 Resolution of Sensors
296(1)
10.3 Precision of Vehicle Instrumentation
297(1)
10.4 Overall Geo-Registration Precision
298(3)
Exercises
300(1)
References
300(1)
Appendix A Demonstrations of Undergraduate Student Robotic Projects
301(4)
A.0 Introduction
301(1)
A.1 Demonstration of the GEONAVOD Robot
301(1)
A.2 Demonstration of the Automatic Balancing Robotic Bicycle (ABRB)
302(3)
See demonstration videos at http://www.wiley.com/WileyCDA/WileyTitle/productCd-0470630213.html
Index 305
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 editorin-chief of the IEEE Transactions on Industrial Electronics.
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