Mobile Robots Navigation

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Mobile Robots Navigation

Luis Payá,Reinoso Garcia
Mobile Robots Navigation Book PDF

Author : Luis Payá,Reinoso Garcia
Publisher : MDPI
Page : 298 pages
File Size : 41,5 Mb
Release : 2020-11-13
Category : Technology & Engineering
ISBN : 9783039286706

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Mobile Robots Navigation by Luis Payá,Reinoso Garcia Pdf

The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.

Mobile Robots

Gerald Cook,Feitian Zhang
Mobile Robots Book PDF

Author : Gerald Cook,Feitian Zhang
Publisher : John Wiley & Sons
Page : 353 pages
File Size : 40,6 Mb
Release : 2020-01-09
Category : Technology & Engineering
ISBN : 9781119534785

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Mobile Robots by Gerald Cook,Feitian Zhang Pdf

Presents the normal kinematic and dynamic equations for robots, including mobile robots, with coordinate transformations and various control strategies This fully updated edition examines the use of mobile robots for sensing objects of interest, and focus primarily on control, navigation, and remote sensing. It also includes an entirely new section on modeling and control of autonomous underwater vehicles (AUVs), which exhibits unique complex three-dimensional dynamics. Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs, Second Edition starts with a chapter on kinematic models for mobile robots. It then offers a detailed chapter on robot control, examining several different configurations of mobile robots. Following sections look at robot attitude and navigation. The application of Kalman Filtering is covered. Readers are also provided with a section on remote sensing and sensors. Other chapters discuss: target tracking, including multiple targets with multiple sensors; obstacle mapping and its application to robot navigation; operating a robotic manipulator; and remote sensing via UAVs. The last two sections deal with the dynamics modeling of AUVs and control of AUVs. In addition, this text: Includes two new chapters dealing with control of underwater vehicles Covers control schemes including linearization and use of linear control design methods, Lyapunov stability theory, and more Addresses the problem of ground registration of detected objects of interest given their pixel coordinates in the sensor frame Analyzes geo-registration errors as a function of sensor precision and sensor pointing uncertainty Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs is intended for use as a textbook for a graduate course of the same title and can also serve as a reference book for practicing engineers working in related areas.

Mobile Robots

Gerald Cook
Mobile Robots Book PDF

Author : Gerald Cook
Publisher : John Wiley & Sons
Page : 326 pages
File Size : 40,6 Mb
Release : 2011-10-14
Category : Technology & Engineering
ISBN : 1118029046

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Mobile Robots by Gerald Cook Pdf

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.

Robot Cognition and Navigation

Srikanta Patnaik
Robot Cognition and Navigation Book PDF

Author : Srikanta Patnaik
Publisher : Springer Science & Business Media
Page : 291 pages
File Size : 54,6 Mb
Release : 2007-07-12
Category : Technology & Engineering
ISBN : 9783540689164

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Robot Cognition and Navigation by Srikanta Patnaik Pdf

This book presents the concept of cognition in a clear, lucid and highly comprehensive style. It provides an in-depth analysis of mathematical models and algorithms, and demonstrates their application with real life experiments.

Intelligent Mobile Robot Navigation

Federico Cuesta,Aníbal Ollero
Intelligent Mobile Robot Navigation Book PDF

Author : Federico Cuesta,Aníbal Ollero
Publisher : Springer Science & Business Media
Page : 232 pages
File Size : 52,5 Mb
Release : 2005-03-11
Category : Technology & Engineering
ISBN : 3540239561

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Intelligent Mobile Robot Navigation by Federico Cuesta,Aníbal Ollero Pdf

Intelligent Mobile Robot Navigation builds upon the application of fuzzy logic to the area of intelligent control of mobile robots. Reactive, planned, and teleoperated techniques are considered, leading to the development of novel fuzzy control systems for perception and navigation of nonholonomic autonomous vehicles. The unique feature of this monograph lies in its comprehensive treatment of the problem, from the theoretical development of the various schemes down to the real-time implementation of algorithms on mobile robot prototypes. As such, the book spans different domains ranging from mobile robots to intelligent transportation systems, from automatic control to artificial intelligence.

Mobile Robots Navigation

Alejandra Barrera
Mobile Robots Navigation Book PDF

Author : Alejandra Barrera
Publisher : BoD – Books on Demand
Page : 684 pages
File Size : 44,7 Mb
Release : 2010-03-01
Category : Technology & Engineering
ISBN : 9789533070766

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Mobile Robots Navigation by Alejandra Barrera Pdf

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described.

Vision Based Autonomous Robot Navigation

Amitava Chatterjee,Anjan Rakshit,N. Nirmal Singh
Vision Based Autonomous Robot Navigation Book PDF

Author : Amitava Chatterjee,Anjan Rakshit,N. Nirmal Singh
Publisher : Springer
Page : 226 pages
File Size : 47,7 Mb
Release : 2012-10-13
Category : Technology & Engineering
ISBN : 9783642339653

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Vision Based Autonomous Robot Navigation by Amitava Chatterjee,Anjan Rakshit,N. Nirmal Singh Pdf

This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.

Mobile Robot Navigation with Intelligent Infrared Image Interpretation

William L. Fehlman,Mark K. Hinders
Mobile Robot Navigation with Intelligent Infrared Image Interpretation Book PDF

Author : William L. Fehlman,Mark K. Hinders
Publisher : Springer Science & Business Media
Page : 297 pages
File Size : 54,6 Mb
Release : 2009-06-13
Category : Technology & Engineering
ISBN : 9781848825093

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Mobile Robot Navigation with Intelligent Infrared Image Interpretation by William L. Fehlman,Mark K. Hinders Pdf

Mobile robots require the ability to make decisions such as "go through the hedges" or "go around the brick wall." Mobile Robot Navigation with Intelligent Infrared Image Interpretation describes in detail an alternative to GPS navigation: a physics-based adaptive Bayesian pattern classification model that uses a passive thermal infrared imaging system to automatically characterize non-heat generating objects in unstructured outdoor environments for mobile robots. The resulting classification model complements an autonomous robot’s situational awareness by providing the ability to classify smaller structures commonly found in the immediate operational environment.

Mobile Robotics

Ulrich Nehmzow
Mobile Robotics Book PDF

Author : Ulrich Nehmzow
Publisher : Springer Science & Business Media
Page : 280 pages
File Size : 50,8 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447100256

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Mobile Robotics by Ulrich Nehmzow Pdf

Mobile Robotics: A Practical Introduction (2nd edition) is an excellent introduction to the foundations and methods used for designing completely autonomous mobile robots. A fascinating, cutting-edge, research topic, autonomous mobile robotics is now taught in more and more universities. In this book you are introduced to the fundamental concepts of this complex field via twelve detailed case studies that show how to build and program real working robots. Topics covered in clued learning, autonomous navigation in unmodified, noisy and unpredictable environments, and high fidelity robot simulation. This new edition has been updated to include a new chapter on novelty detection, and provides a very practical introduction to mobile robotics for a general scientific audience. It is essential reading for 2nd and 3rd year undergraduate students and postgraduate students studying robotics, artificial intelligence, cognitive science and robot engineering. The update and overview of core concepts in mobile robotics will assist and encourage practitioners of the field and set challenges to explore new avenues of research in this exiting field. The author is Senior Lecturer at the Department of Computer Science at the University of Essex. "A very fine overview over the relevant problems to be solved in the attempt to bring intelligence to a moving vehicle." Professor Dr. Ewald von Puttkamer, University of Kaiserslautern "Case studies show ways of achieving an impressive repertoire of kinds of learned behaviour, navigation and map-building. The book is an admirable introduction to this modern approach to mobile robotics and certainly gives a great deal of food for thought. This is an important and though-provoking book." Alex M. Andrew in Kybernetes Vol 29 No 4 and Robotica Vol 18

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 : 47,5 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 Robots Navigation

Alejandra Barrera
Mobile Robots Navigation Book PDF

Author : Alejandra Barrera
Publisher : IntechOpen
Page : 682 pages
File Size : 48,7 Mb
Release : 2010-03-01
Category : Technology & Engineering
ISBN : 9533070765

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Mobile Robots Navigation by Alejandra Barrera Pdf

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described.

Autonomous Mobile Robots and Multi-Robot Systems

Eugene Kagan,Nir Shvalb,Irad Ben-Gal
Autonomous Mobile Robots and Multi Robot Systems Book PDF

Author : Eugene Kagan,Nir Shvalb,Irad Ben-Gal
Publisher : John Wiley & Sons
Page : 344 pages
File Size : 42,9 Mb
Release : 2019-09-02
Category : Technology & Engineering
ISBN : 9781119213178

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Autonomous Mobile Robots and Multi-Robot Systems by Eugene Kagan,Nir Shvalb,Irad Ben-Gal Pdf

Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

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 : 43,6 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

Robot Navigation from Nature

Michael John Milford
Robot Navigation from Nature Book PDF

Author : Michael John Milford
Publisher : Springer Science & Business Media
Page : 203 pages
File Size : 53,6 Mb
Release : 2008-02-11
Category : Technology & Engineering
ISBN : 9783540775195

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Robot Navigation from Nature by Michael John Milford Pdf

This pioneering book describes the development of a robot mapping and navigation system inspired by models of the neural mechanisms underlying spatial navigation in the rodent hippocampus. Computational models of animal navigation systems have traditionally had limited performance when implemented on robots. This is the first research to test existing models of rodent spatial mapping and navigation on robots in large, challenging, real world environments.

Autonomous Mobile Robots and Multi-Robot Systems

Eugene Kagan,Nir Shvalb,Irad Ben-Gal
Autonomous Mobile Robots and Multi Robot Systems Book PDF

Author : Eugene Kagan,Nir Shvalb,Irad Ben-Gal
Publisher : John Wiley & Sons
Page : 340 pages
File Size : 48,9 Mb
Release : 2019-12-16
Category : Technology & Engineering
ISBN : 9781119212867

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Autonomous Mobile Robots and Multi-Robot Systems by Eugene Kagan,Nir Shvalb,Irad Ben-Gal Pdf

Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.