Introduction To Mobile Robot Control

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Introduction to Mobile Robot Control

Spyros G Tzafestas
Introduction to Mobile Robot Control Book PDF

Author : Spyros G Tzafestas
Publisher : Elsevier
Page : 718 pages
File Size : 53,7 Mb
Release : 2013-10-03
Category : Technology & Engineering
ISBN : 9780124171039

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Introduction to Mobile Robot Control by Spyros G Tzafestas Pdf

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. 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

Introduction to Autonomous Mobile Robots, second edition

Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza
Introduction to Autonomous Mobile Robots second edition Book PDF

Author : Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza
Publisher : MIT Press
Page : 473 pages
File Size : 48,8 Mb
Release : 2011-02-18
Category : Computers
ISBN : 9780262295093

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Introduction to Autonomous Mobile Robots, second edition by Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza Pdf

The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Mobile Robotics: A Practical Introduction

Ulrich Nehmzow
Mobile Robotics A Practical Introduction Book PDF

Author : Ulrich Nehmzow
Publisher : Springer Science & Business Media
Page : 249 pages
File Size : 40,9 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447133926

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Mobile Robotics: A Practical Introduction by Ulrich Nehmzow Pdf

This book is an introduction to the foundations and methods used for designing completely autonomous mobile robots. Readers are introduced to the fundamental concepts of mobile robotics via twelve detailed case studies which show how to build and program real working robots. The book provides a very practical introduction to mobile robotics for a general scientific audience, and is essential reading for practitioners and students working in robotics, artificial intelligence, cognitive science and robot engineering.

Modern Robotics

Kevin M. Lynch,Frank C. Park
Modern Robotics Book PDF

Author : Kevin M. Lynch,Frank C. Park
Publisher : Cambridge University Press
Page : 545 pages
File Size : 54,7 Mb
Release : 2017-05-25
Category : Computers
ISBN : 9781107156302

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Modern Robotics by Kevin M. Lynch,Frank C. Park Pdf

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Learning for Adaptive and Reactive Robot Control

Aude Billard,Sina Mirrazavi,Nadia Figueroa
Learning for Adaptive and Reactive Robot Control Book PDF

Author : Aude Billard,Sina Mirrazavi,Nadia Figueroa
Publisher : MIT Press
Page : 425 pages
File Size : 51,7 Mb
Release : 2022-02-08
Category : Technology & Engineering
ISBN : 9780262367011

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Learning for Adaptive and Reactive Robot Control by Aude Billard,Sina Mirrazavi,Nadia Figueroa Pdf

Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Wheeled Mobile Robotics

Gregor Klancar,Andrej Zdesar,Saso Blazic,Igor Skrjanc
Wheeled Mobile Robotics Book PDF

Author : Gregor Klancar,Andrej Zdesar,Saso Blazic,Igor Skrjanc
Publisher : Butterworth-Heinemann
Page : 502 pages
File Size : 55,6 Mb
Release : 2017-02-02
Category : Computers
ISBN : 9780128042380

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Wheeled Mobile Robotics by Gregor Klancar,Andrej Zdesar,Saso Blazic,Igor Skrjanc Pdf

Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners Includes several examples of the application of algorithms in simulations and real laboratory projects Presents foundation in mobile robotics theory before continuing with more advanced topics Self-sufficient to beginner readers, covering all important topics in the mobile robotics field Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems

Mobile Robotics

Luc Jaulin
Mobile Robotics Book PDF

Author : Luc Jaulin
Publisher : John Wiley & Sons
Page : 386 pages
File Size : 48,6 Mb
Release : 2019-09-20
Category : Technology & Engineering
ISBN : 9781119663492

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Mobile Robotics by Luc Jaulin Pdf

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 mine-detector robots, robot sailboats and vacuum cleaners. Illustrated with simulations, exercises and examples, this book describes the fundamentals of modeling robots, developing the concepts of actuators, sensors, control and guidance. Three-dimensional simulation tools are also explored, as well as the theoretical basis for the reliable localization of robots within their environment. This revised and updated edition contains additional exercises and a completely new chapter on the Bayes filter, an observer that enhances our understanding of the Kalman filter and facilitates certain proofs.

Robotics, Vision and Control

Peter Corke
Robotics Vision and Control Book PDF

Author : Peter Corke
Publisher : Springer
Page : 572 pages
File Size : 54,8 Mb
Release : 2011-09-05
Category : Technology & Engineering
ISBN : 9783642201448

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Robotics, Vision and Control by Peter Corke Pdf

The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system. Additional material is provided at http://www.petercorke.com/RVC

Mobile Robotics

Alonzo Kelly
Mobile Robotics Book PDF

Author : Alonzo Kelly
Publisher : Cambridge University Press
Page : 717 pages
File Size : 46,7 Mb
Release : 2013-11-11
Category : Computers
ISBN : 9781107031159

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Mobile Robotics by Alonzo Kelly Pdf

Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning

Mobile Robotics for Multidisciplinary Study

Carolotta Berry
Mobile Robotics for Multidisciplinary Study Book PDF

Author : Carolotta Berry
Publisher : Springer Nature
Page : 83 pages
File Size : 51,8 Mb
Release : 2022-06-01
Category : Computers
ISBN : 9783031018305

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Mobile Robotics for Multidisciplinary Study by Carolotta Berry Pdf

This lecture provides an introduction to the field of mobile robotics and the intersection between multiple robotics-related disciplines including electrical, mechanical, computer, software engineering and computer science. It is intended for an upper-level undergraduate or first-year graduate students interested in mobile robotics and artificial intelligence with some experience in object-oriented programming and controls. Focus areas will include robotics history, hardware, control and software. Specific topics include robot components, effectors and actuators, locomotion, kinematics, sensors, feedback control, control architectures, representation, navigation, localization and mapping. The end of each chapter includes review questions as well as exercises to provide applications for the concepts as well as opportunities for further study. Table of Contents: Introduction / Hardware / Control / Software

Wheeled Mobile Robot Control

Nardênio Almeida Martins,Douglas Wildgrube Bertol
Wheeled Mobile Robot Control Book PDF

Author : Nardênio Almeida Martins,Douglas Wildgrube Bertol
Publisher : Springer Nature
Page : 209 pages
File Size : 49,5 Mb
Release : 2021-08-12
Category : Technology & Engineering
ISBN : 9783030779122

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Wheeled Mobile Robot Control by Nardênio Almeida Martins,Douglas Wildgrube Bertol Pdf

This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.

Mobile Robotics for Multidisciplinary Study

Carolotta Berry
Mobile Robotics for Multidisciplinary Study Book PDF

Author : Carolotta Berry
Publisher : Morgan & Claypool Publishers
Page : 97 pages
File Size : 49,8 Mb
Release : 2012-03-01
Category : Technology & Engineering
ISBN : 9781608457991

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Mobile Robotics for Multidisciplinary Study by Carolotta Berry Pdf

This lecture provides an introduction to the field of mobile robotics and the intersection between multiple robotics-related disciplines including electrical, mechanical, computer, software engineering and computer science. It is intended for an upper-level undergraduate or first-year graduate students interested in mobile robotics and artificial intelligence with some experience in object-oriented programming and controls. Focus areas will include robotics history, hardware, control and software. Specific topics include robot components, effectors and actuators, locomotion, kinematics, sensors, feedback control, control architectures, representation, navigation, localization and mapping. The end of each chapter includes review questions as well as exercises to provide applications for the concepts as well as opportunities for further study. Table of Contents: Introduction / Hardware / Control / Software

Computational Principles of Mobile Robotics

Gregory Dudek,Michael Jenkin
Computational Principles of Mobile Robotics Book PDF

Author : Gregory Dudek,Michael Jenkin
Publisher : Cambridge University Press
Page : 450 pages
File Size : 43,9 Mb
Release : 2024-01-31
Category : Computers
ISBN : 9781108597876

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Computational Principles of Mobile Robotics by Gregory Dudek,Michael Jenkin Pdf

Now in its third edition, this textbook is a comprehensive introduction to the multidisciplinary field of mobile robotics, which lies at the intersection of artificial intelligence, computational vision, and traditional robotics. Written for advanced undergraduates and graduate students in computer science and engineering, the book covers algorithms for a range of strategies for locomotion, sensing, and reasoning. The new edition includes recent advances in robotics and intelligent machines, including coverage of human-robot interaction, robot ethics, and the application of advanced AI techniques to end-to-end robot control and specific computational tasks. This book also provides support for a number of algorithms using ROS 2, and includes a review of critical mathematical material and an extensive list of sample problems. Researchers as well as students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.

Introduction to Autonomous Mobile Robots, second edition

Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza
Introduction to Autonomous Mobile Robots second edition Book PDF

Author : Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza
Publisher : MIT Press
Page : 473 pages
File Size : 46,9 Mb
Release : 2011-02-18
Category : Computers
ISBN : 9780262015356

Get Book

Introduction to Autonomous Mobile Robots, second edition by Roland Siegwart,Illah Reza Nourbakhsh,Davide Scaramuzza Pdf

The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Embedded Robotics

Thomas Bräunl
Embedded Robotics Book PDF

Author : Thomas Bräunl
Publisher : Springer Science & Business Media
Page : 536 pages
File Size : 43,9 Mb
Release : 2008-09-20
Category : Computers
ISBN : 9783540705345

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Embedded Robotics by Thomas Bräunl Pdf

This book presents a unique examination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with Embedded Systems (hardware and software design, actuators, sensors, PID control, multitasking), Mobile Robot Design (driving, balancing, walking, and flying robots), and Mobile Robot Applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.