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Elsevier

Mobile Robotics

  • 1 Edición - 6 de octubre de 2015
  • Última edición
  • Autor: Luc Jaulin
  • Idioma: Inglés

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 mi… Leer más

Descripción

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.

Puntos claves

  • 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

De interès para

Researchers and practitioners working on Robotics, Electronic and Electrical Engineering, Computer Science and Control Engineering.

Índice

  • 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

Detalles del producto

  • Edición: 1
  • Última edición
  • Publicado: 8 de octubre de 2015
  • Idioma: Inglés

Sobre el autor

LJ

Luc Jaulin

Afiliaciones y experiencia
Professor of Robotics, ENSTA-Bretagne, LabSTICC, Technopole Brest-Iroise, Brest, France

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