Muutke küpsiste eelistusi

E-raamat: Path Planning of Cooperative Mobile Robots Using Discrete Event Models

, ,
Teised raamatud teemal:
  • Formaat - PDF+DRM
  • Hind: 128,38 €*
  • * hind on lõplik, st. muud allahindlused enam ei rakendu
  • Lisa ostukorvi
  • Lisa soovinimekirja
  • See e-raamat on mõeldud ainult isiklikuks kasutamiseks. E-raamatuid ei saa tagastada.
  • Raamatukogudele
Path Planning of Cooperative Mobile Robots Using Discrete Event ModelsSuurem pilt
Teised raamatud teemal:

DRM piirangud

  • Kopeerimine (copy/paste):

    ei ole lubatud

  • Printimine:

    ei ole lubatud

  • Kasutamine:

    Digitaalõiguste kaitse (DRM)
    Kirjastus on väljastanud selle e-raamatu krüpteeritud kujul, mis tähendab, et selle lugemiseks peate installeerima spetsiaalse tarkvara. Samuti peate looma endale  Adobe ID Rohkem infot siin. E-raamatut saab lugeda 1 kasutaja ning alla laadida kuni 6'de seadmesse (kõik autoriseeritud sama Adobe ID-ga).

    Vajalik tarkvara
    Mobiilsetes seadmetes (telefon või tahvelarvuti) lugemiseks peate installeerima selle tasuta rakenduse: PocketBook Reader (iOS / Android)

    PC või Mac seadmes lugemiseks peate installima Adobe Digital Editionsi (Seeon tasuta rakendus spetsiaalselt e-raamatute lugemiseks. Seda ei tohi segamini ajada Adober Reader'iga, mis tõenäoliselt on juba teie arvutisse installeeritud )

    Seda e-raamatut ei saa lugeda Amazon Kindle's. 

Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles

Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots.

Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions.

Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also:

  • Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms
  • Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox)
  • Includes simulations for problems solved by methodologies presented in the book

Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.

Foreword xi
Preface xv
Acknowledgments xvii
Acronyms xix
1 Introduction
1(16)
1.1 Historical perspective of mobile robotics
1(3)
1.2 Path planning. Definition and historical background
4(5)
1.3 Motion control. Definition and historical background
9(2)
1.4 Motivation for expressive tasks
11(3)
1.5 Assumptions of this monograph
14(1)
1.6 Outline of this monograph
14(3)
2 Robot Motion Toolbox
17(24)
2.1 Introduction
17(3)
2.2 General description of the simulator
20(5)
2.3 Path planning algorithms
25(1)
2.4 Robot kinematic models
26(3)
2.5 Motion control algorithms
29(4)
2.5.1 Pure pursuit algorithm
29(3)
2.5.2 PI controller
32(1)
2.6 Illustrative examples
33(7)
2.6.1 Examples about path planning aspects
33(2)
2.6.2 Examples about motion control aspects
35(2)
2.6.3 Examples about multi-robot systems and high-level tasks
37(3)
2.7 Conclusions
40(1)
3 Cell Decomposition Algorithms
41(30)
3.1 Introduction
41(1)
3.2 Cell decomposition algorithms
42(11)
3.2.1 Hypothesis
42(3)
3.2.2 Trapezoidal decomposition
45(1)
3.2.3 Triangular decomposition
46(3)
3.2.4 Polytopal decomposition
49(3)
3.2.5 Rectangular decomposition
52(1)
3.3 Implementation and extensions
53(5)
3.3.1 Extensions
53(2)
3.3.2 Implemented functions
55(3)
3.4 Comparative analysis
58(12)
3.4.1 Qualitative comparison
58(3)
3.4.2 Quantitative comparison
61(9)
3.5 Conclusions
70(1)
4 Discrete Event System Models
71(38)
4.1 Introduction
71(1)
4.2 Environment abstraction
72(3)
4.3 Transition system models
75(8)
4.3.1 Single robot case
75(4)
4.3.2 Multi-robot case
79(4)
4.4 Petri net models
83(7)
4.5 Petri nets in resource allocation systems models
90(6)
4.6 High-level specifications
96(4)
4.7 Linear temporal logic
100(6)
4.8 Conclusions
106(3)
5 Path Planning by Using Transition System Models
109(32)
5.1 Introduction
109(1)
5.2 Two-step planning for a single robot and reachability specification
110(5)
5.3 Quantitative comparison of two-step approaches
115(4)
5.4 Receding horizon approach for a single robot and reachability specification
119(4)
5.5 Simulations and analysis
123(3)
5.6 Path planning with an LTL_X specification
126(6)
5.7 Collision avoidance using initial delay
132(7)
5.7.1 Problem description
132(3)
5.7.2 Solution for Problem 5.1 (decentralized)
135(2)
5.7.3 Solution for Problem 5.2 (centralized)
137(2)
5.8 Conclusions
139(2)
6 Path and Task Planning Using Petri Net Models
141(52)
6.1 Introduction
141(3)
6.2 Boolean-based specifications for cooperative robots
144(13)
6.2.1 Problem definition and notations
144(2)
6.2.2 Linear restrictions for Boolean-based specifications
146(1)
6.2.3 Solution for constraints on the final state
147(2)
6.2.4 Solution for constraints on trajectory and final state
149(2)
6.2.5 Discussion on the above solutions
151(1)
6.2.6 Suboptimal solution
152(2)
6.2.7 Simulation examples
154(3)
6.3 LTL specifications for cooperative robots
157(13)
6.3.1 Problem definition and solution
157(10)
6.3.2 Simulation examples
167(3)
6.4 A sequencing problem
170(10)
6.4.1 Problem statement
170(5)
6.4.2 Solution
175(5)
6.5 Task gathering problem
180(5)
6.5.1 Problem formulation
180(1)
6.5.2 Solution
181(4)
6.6 Deadlock prevention using resource allocation models
185(7)
6.7 Conclusions
192(1)
7 Concluding Remarks
193(2)
Bibliography 195(16)
Index 211
CRISTIAN MAHULEA, PHD, has participated in the development and implementation of Petri Net Toolbox and SimHPN, two MATLAB software for simulation, analysis and synthesis of discrete-event systems modeled with Petri Nets. His research interests include discrete event systems, hybrid systems, automated manufacturing, Petri nets, mobile robotics and healthcare systems. He participated in the development of RMTool, a collection of tools for modeling, path planning and motion control of mobile robots.

MARIUS KLOETZER, PHD, developed two laboratory robotic platforms (at Boston University, USA, and at Technical University of Iasi, Romania) for facilitating real time experiments based on the proposed formal solutions. He is also participating in the development and extension of RMTool software package. His research interests include planning of mobile robots based on discrete abstractions and expressive specifications.

RAMÓN GONZÁLEZ, PHD, is the founder and CEO of robonity, an MIT innovation-driven startup. Ramon is an authority on robotics and engineering whose skills have been demonstrated in some of the most important engineering centers in the world including a 3-year research position at the MIT Robotic Mobility Group. He has received several awards including the Medal of the Royal Academy of Engineering of Spain and the Medal of Andalucia (first in history to an engineer in robotics). He holds a PhD in robotics and an engineering degree in computer science by the University of Almeria (Spain) and a certificate in accounting and finance by the Imperial College Business School (UK).
Lisainfo e-raamatute kohta Lisainfo e-raamatute kohta
Püsilink: https://www.kriso.ee/db/97811194862512e.html