{"product_id":"mobile-robots-9781119534785","title":"Mobile Robots","description":"\u003cb\u003eBook Synopsis\u003c\/b\u003e\u003cbr\u003ePresents 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 \u003cbr\u003e\u003cbr\u003e\u003cb\u003eTable of Contents\u003c\/b\u003e\u003cbr\u003e\u003cp\u003ePreface xi\u003c\/p\u003e \u003cp\u003eAbout the Authors xiii\u003c\/p\u003e \u003cp\u003eIntroduction 1\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Kinematic Models for Mobile Robots 5\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e1.1 Introduction 5\u003c\/p\u003e \u003cp\u003e1.2 Vehicles with Front-Wheel Steering 5\u003c\/p\u003e \u003cp\u003e1.3 Vehicles with Differential-Drive Steering 8\u003c\/p\u003e \u003cp\u003eExercises 11\u003c\/p\u003e \u003cp\u003eReferences 12\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 Mobile Robot Control 13\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e2.1 Introduction 13\u003c\/p\u003e \u003cp\u003e2.2 Front-Wheel Steered Vehicle, Heading Control 13\u003c\/p\u003e \u003cp\u003e2.3 Front-Wheel Steered Vehicle, Speed Control 22\u003c\/p\u003e \u003cp\u003e2.4 Heading and Speed Control for the Differential-Drive Robot 23\u003c\/p\u003e \u003cp\u003e2.5 Reference Trajectory and Incremental Control, Front-Wheel Steered Robot 26\u003c\/p\u003e \u003cp\u003e2.6 Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model 31\u003c\/p\u003e \u003cp\u003e2.7 Computed Control for Heading and Velocity, Front-Wheel Steered Robot 34\u003c\/p\u003e \u003cp\u003e2.8 Heading Control of Differential-Drive Robot Using the Nonlinear Model 36\u003c\/p\u003e \u003cp\u003e2.9 Computed Control for Heading and Velocity, Differential-Drive Robot 37\u003c\/p\u003e \u003cp\u003e2.10 Steering Control Along a Path Using a Local Coordinate Frame 38\u003c\/p\u003e \u003cp\u003e2.11 Optimal Steering of Front-Wheel Steered Vehicle 49\u003c\/p\u003e \u003cp\u003e2.12 Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle 67\u003c\/p\u003e \u003cp\u003eExercises 68\u003c\/p\u003e \u003cp\u003eReferences 69\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 Robot Attitude 71\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e3.1 Introduction 71\u003c\/p\u003e \u003cp\u003e3.2 Definition of Yaw, Pitch, and Roll 71\u003c\/p\u003e \u003cp\u003e3.3 Rotation Matrix for Yaw 72\u003c\/p\u003e \u003cp\u003e3.4 Rotation Matrix for Pitch 74\u003c\/p\u003e \u003cp\u003e3.5 Rotation Matrix for Roll 75\u003c\/p\u003e \u003cp\u003e3.6 General Rotation Matrix 77\u003c\/p\u003e \u003cp\u003e3.7 Homogeneous Transformation 78\u003c\/p\u003e \u003cp\u003e3.8 Rotating a Vector 82\u003c\/p\u003e \u003cp\u003eExercises 83\u003c\/p\u003e \u003cp\u003eReferences 84\u003c\/p\u003e \u003cp\u003e\u003cb\u003e4 Robot Navigation 85\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e4.1 Introduction 85\u003c\/p\u003e \u003cp\u003e4.2 Coordinate Systems 85\u003c\/p\u003e \u003cp\u003e4.3 Earth-Centered Earth-Fixed Coordinate System 85\u003c\/p\u003e \u003cp\u003e4.4 Associated Coordinate Systems 88\u003c\/p\u003e \u003cp\u003e4.5 Universal Transverse Mercator Coordinate System 91\u003c\/p\u003e \u003cp\u003e4.6 Global Positioning System 93\u003c\/p\u003e \u003cp\u003e4.7 Computing Receiver Location Using GPS, Numerical Methods 97\u003c\/p\u003e \u003cp\u003e4.7.1 Computing Receiver Location Using GPS via Newton’s Method 97\u003c\/p\u003e \u003cp\u003e4.7.2 Computing Receiver Location Using GPS via Minimization of a Performance Index 105\u003c\/p\u003e \u003cp\u003e4.8 Array of GPS Antennas 111\u003c\/p\u003e \u003cp\u003e4.9 Gimbaled Inertial Navigation Systems 114\u003c\/p\u003e \u003cp\u003e4.10 Strap-Down Inertial Navigation Systems 118\u003c\/p\u003e \u003cp\u003e4.11 Dead Reckoning or Deduced Reckoning 123\u003c\/p\u003e \u003cp\u003e4.12 Inclinometer\/Compass 125\u003c\/p\u003e \u003cp\u003eExercises 127\u003c\/p\u003e \u003cp\u003eReferences 131\u003c\/p\u003e \u003cp\u003e\u003cb\u003e5 Application of Kalman Filtering 133\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e5.1 Introduction 133\u003c\/p\u003e \u003cp\u003e5.2 Estimating a Fixed Quantity Using Batch Processing 133\u003c\/p\u003e \u003cp\u003e5.3 Estimating a Fixed Quantity Using Recursive Processing 134\u003c\/p\u003e \u003cp\u003e5.4 Estimating the State of a Dynamic System Recursively 139\u003c\/p\u003e \u003cp\u003e5.5 Estimating the State of a Nonlinear System via the Extended Kalman Filter 150\u003c\/p\u003e \u003cp\u003eExercises 165\u003c\/p\u003e \u003cp\u003eReferences 169\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Remote Sensing 171\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e6.1 Introduction 171\u003c\/p\u003e \u003cp\u003e6.2 Camera-Type Sensors 171\u003c\/p\u003e \u003cp\u003e6.3 Stereo Vision 181\u003c\/p\u003e \u003cp\u003e6.4 Radar Sensing: Synthetic Aperture Radar 185\u003c\/p\u003e \u003cp\u003e6.5 Pointing of Range Sensor at Detected Object 190\u003c\/p\u003e \u003cp\u003e6.6 Detection Sensor in Scanning Mode 195\u003c\/p\u003e \u003cp\u003eExercises 199\u003c\/p\u003e \u003cp\u003eReferences 200\u003c\/p\u003e \u003cp\u003e\u003cb\u003e7 Target Tracking Including Multiple Targets with Multiple Sensors 203\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e7.1 Introduction 203\u003c\/p\u003e \u003cp\u003e7.2 Regions of Confidence for Sensors 203\u003c\/p\u003e \u003cp\u003e7.3 Model of Target Location 211\u003c\/p\u003e \u003cp\u003e7.4 Inventory of Detected Targets 215\u003c\/p\u003e \u003cp\u003eExercises 220\u003c\/p\u003e \u003cp\u003eReferences 221\u003c\/p\u003e \u003cp\u003e\u003cb\u003e8 Obstacle Mapping and Its Application to Robot Navigation 223\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e8.1 Introduction 223\u003c\/p\u003e \u003cp\u003e8.2 Sensors for Obstacle Detection and Geo-Registration 223\u003c\/p\u003e \u003cp\u003e8.3 Dead Reckoning Navigation 225\u003c\/p\u003e \u003cp\u003e8.4 Use of Previously Detected Obstacles for Navigation 229\u003c\/p\u003e \u003cp\u003e8.5 Simultaneous Corrections of Coordinates of Detected Obstacles and of the Robot 233\u003c\/p\u003e \u003cp\u003eExercises 236\u003c\/p\u003e \u003cp\u003eReferences 237\u003c\/p\u003e \u003cp\u003e\u003cb\u003e9 Operating a Robotic Manipulator 239\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e9.1 Introduction 239\u003c\/p\u003e \u003cp\u003e9.2 Forward Kinematic Equations 239\u003c\/p\u003e \u003cp\u003e9.3 Path Specification in Joint Space 242\u003c\/p\u003e \u003cp\u003e9.4 Inverse Kinematic Equations 242\u003c\/p\u003e \u003cp\u003e9.5 Path Specification in Cartesian Space 248\u003c\/p\u003e \u003cp\u003e9.6 Velocity Relationships 249\u003c\/p\u003e \u003cp\u003e9.7 Forces and Torques 255\u003c\/p\u003e \u003cp\u003eExercises 261\u003c\/p\u003e \u003cp\u003eReferences 262\u003c\/p\u003e \u003cp\u003e\u003cb\u003e10 Remote Sensing via UAVs 263\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e10.1 Introduction 263\u003c\/p\u003e \u003cp\u003e10.2 Mounting of Sensors 263\u003c\/p\u003e \u003cp\u003e10.3 Resolution of Sensors 264\u003c\/p\u003e \u003cp\u003e10.4 Precision of Vehicle Instrumentation 264\u003c\/p\u003e \u003cp\u003e10.5 Overall Geo-Registration Precision 265\u003c\/p\u003e \u003cp\u003eExercise 267\u003c\/p\u003e \u003cp\u003eReferences 267\u003c\/p\u003e \u003cp\u003e\u003cb\u003e11 Dynamics Modeling of AUVs 269\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e11.1 Introduction 269\u003c\/p\u003e \u003cp\u003e11.2 Motivation 269\u003c\/p\u003e \u003cp\u003e11.3 Full Dynamic Model 270\u003c\/p\u003e \u003cp\u003e11.4 Hydrodynamic Model 273\u003c\/p\u003e \u003cp\u003e11.5 Reduced-Order Longitudinal Dynamics 274\u003c\/p\u003e \u003cp\u003e11.6 Computation of Steady Gliding Path in the Longitudinal Plane 276\u003c\/p\u003e \u003cp\u003e11.7 Scaling Analysis 279\u003c\/p\u003e \u003cp\u003e11.8 Spiraling Dynamics 281\u003c\/p\u003e \u003cp\u003e11.9 Computation of Spiral Path 286\u003c\/p\u003e \u003cp\u003eExercises 288\u003c\/p\u003e \u003cp\u003eReferences 289\u003c\/p\u003e \u003cp\u003e\u003cb\u003e12 Control of AUVs 291\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e12.1 Introduction 291\u003c\/p\u003e \u003cp\u003e12.2 Longitudinal Gliding Stabilization 291\u003c\/p\u003e \u003cp\u003e12.2.1 Longitudinal Dynamic Model Reduction 292\u003c\/p\u003e \u003cp\u003e12.2.2 Passivity-Based Controller Design 295\u003c\/p\u003e \u003cp\u003e12.2.3 Simulation Results 297\u003c\/p\u003e \u003cp\u003e12.3 Yaw Angle Regulation 298\u003c\/p\u003e \u003cp\u003e12.3.1 Problem Statement 298\u003c\/p\u003e \u003cp\u003e12.3.2 Sliding Mode Controller Design 300\u003c\/p\u003e \u003cp\u003e12.3.3 Simulation Results 303\u003c\/p\u003e \u003cp\u003e12.4 Spiral Path Tracking 307\u003c\/p\u003e \u003cp\u003e12.4.1 Steady Spiral and Its Differential Geometric Parameters 307\u003c\/p\u003e \u003cp\u003e12.4.2 Two Degree-of-Freedom Control Design 310\u003c\/p\u003e \u003cp\u003e12.4.3 Simulation Results 314\u003c\/p\u003e \u003cp\u003eExercises 321\u003c\/p\u003e \u003cp\u003eReferences 322\u003c\/p\u003e \u003cp\u003eAppendix A Demonstrations of Undergraduate Student Robotic Projects 323\u003c\/p\u003e \u003cp\u003eIndex 327\u003c\/p\u003e","brand":"John Wiley \u0026 Sons Inc","offers":[{"title":"Default Title","offer_id":49989930156375,"sku":"9781119534785","price":95.36,"currency_code":"GBP","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0817\/1739\/5799\/files\/9781119534785.jpg?v=1739542628","url":"https:\/\/bookcurl.com\/products\/mobile-robots-9781119534785","provider":"Book Curl","version":"1.0","type":"link"}