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Wheeled Mobile Robotics

Book Description

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

Table of Contents

  1. Cover image
  2. Title page
  3. Table of Contents
  4. Copyright
  5. Preface
  6. Acknowledgements
  7. Chapter 1: Introduction to Mobile Robotics
    1. Abstract
    2. 1.1 Introduction
    3. 1.2 History
    4. 1.3 About the Book
  8. Chapter 2: Motion Modeling for Mobile Robots
    1. Abstract
    2. 2.1 Introduction
    3. 2.2 Kinematics of Wheeled Mobile Robots
    4. 2.3 Motion Constraints
    5. 2.4 Dynamic Model of a Mobile System With Constraints
  9. Chapter 3: Control of Wheeled Mobile Systems
    1. Abstract
    2. 3.1 Introduction
    3. 3.2 Control to Reference Pose
    4. 3.3 Trajectory Tracking Control
    5. 3.4 Optimal Velocity Profile Estimation for a Known Path
  10. Chapter 4: Path Planning
    1. Abstract
    2. 4.1 Introduction
    3. 4.2 Environment Presentation for Path Planning Purposes
    4. 4.3 Simple Path Planning Algorithms: Bug Algorithms
    5. 4.4 Graph-Based Path Planning Methods
  11. Chapter 5: Sensors Used in Mobile Systems
    1. Abstract
    2. 5.1 Introduction
    3. 5.2 Coordinate Frame Transformations
    4. 5.3 Pose Measurement Methods
    5. 5.4 Sensors
  12. Chapter 6: Nondeterministic Events in Mobile Systems
    1. Abstract
    2. 6.1 Introduction
    3. 6.2 Basics of Probability
    4. 6.3 State Estimation
    5. 6.4 Bayesian Filter
    6. 6.5 Kalman Filter
    7. 6.6 Particle Filter
  13. Chapter 7: Autonomous Guided Vehicles
    1. Abstract
    2. 7.1 Introduction
    3. 7.2 Autonomous Transportation Vehicles
    4. 7.3 Wheeled Mobile Robots in Agriculture
    5. 7.4 Wheeled Mobile Robots in Industry
    6. 7.5 Wheeled Mobile Robots in Domestic Environments
    7. 7.6 Assistive Mobile Robots in Walking Rehabilitation Therapy
  14. Chapter 8: Project Examples for Laboratory Practice
    1. Abstract
    2. 8.1 Introduction
    3. 8.2 Localization Based on Bayesian Filter Within a Network of Paths and Crossroads
    4. 8.3 Localization Based on Extended Kalman Filter Using Indoor Global Positioning System and Odometry
    5. 8.4 Particle-Filter-Based Localization in a Pattern of Colored Tiles
    6. 8.5 Control of Vehicles in a Linear Formation
    7. 8.6 Motion and Strategy Control of Multiagent Soccer Robots
    8. 8.7 Image-Based Control of a Mobile Robot
    9. 8.8 Particle-Filter-Based Localization Using an Array of Ultrasonic Distance Sensors
    10. 8.9 Path Planning of a Mobile Robot in a Known Environment
  15. Index