Оглавление
Feitian Zhang. Mobile Robots
Table of Contents
List of Tables
List of Illustrations
Guide
Pages
Mobile Robots. Navigation, Control and Sensing, Surface Robots and AUVs
Preface
About the Authors
Introduction
1 Kinematic Models for Mobile Robots. 1.1 Introduction
1.2 Vehicles with Front‐Wheel Steering
1.3 Vehicles with Differential‐Drive Steering
Exercises
References
2 Mobile Robot Control. 2.1 Introduction
2.2 Front‐Wheel Steered Vehicle, Heading Control
Example 1
Solution 1
2.3 Front‐Wheel Steered Vehicle, Speed Control
2.4 Heading and Speed Control for the Differential‐Drive Robot
2.5 Reference Trajectory and Incremental Control, Front‐Wheel Steered Robot
2.6 Heading Control of Front‐Wheel Steered Robot Using the Nonlinear Model
2.7 Computed Control for Heading and Velocity, Front‐Wheel Steered Robot
2.8 Heading Control of Differential‐Drive Robot Using the Nonlinear Model
2.9 Computed Control for Heading and Velocity, Differential‐Drive Robot
2.10 Steering Control Along a Path Using a Local Coordinate Frame
Example 2
Solution 2
2.11 Optimal Steering of Front‐Wheel Steered Vehicle
Example 3
Solution 3
Example 4
Solution 4
Example 5
Solution 5
Example 6
Solution 6
Example 7
Solution 7
Example 8
Example 9
2.12 Optimal Steering of Front‐Wheel Steered Vehicle, Free Final Heading Angle
Exercises
References
3 Robot Attitude
3.1 Introduction
3.2 Definition of Yaw, Pitch, and Roll
3.3 Rotation Matrix for Yaw
Example 1
Solution 1
3.4 Rotation Matrix for Pitch
Example 2
Solution 2
3.5 Rotation Matrix for Roll
Example 3
Solution 3
3.6 General Rotation Matrix
3.7 Homogeneous Transformation
Example 4
Solution 4
3.8 Rotating a Vector
Exercises
References
4 Robot Navigation. 4.1 Introduction
4.2 Coordinate Systems
4.3 Earth‐Centered Earth‐Fixed Coordinate System
Example 1
Solution 1
Example 2
Solution 2
4.4 Associated Coordinate Systems
Example 3
Solution 3
Example 4
Solution 4
4.5 Universal Transverse Mercator Coordinate System
Example 5
Solution 5
4.6 Global Positioning System
4.7 Computing Receiver Location Using GPS, Numerical Methods
4.7.1 Computing Receiver Location Using GPS via Newton's Method
Example 6
Solution 6
4.7.2 Computing Receiver Location Using GPS via Minimization of a Performance Index
Example 7
Solution 7
4.8 Array of GPS Antennas
4.9 Gimbaled Inertial Navigation Systems
Example 8
Solution 8
4.10 Strap‐Down Inertial Navigation Systems
4.11 Dead Reckoning or Deduced Reckoning
Example 9
Solution 9
4.12 Inclinometer/Compass
Exercises
References
5 Application of Kalman Filtering. 5.1 Introduction
5.2 Estimating a Fixed Quantity Using Batch Processing
5.3 Estimating a Fixed Quantity Using Recursive Processing
Example 1
Solution 1
Example 2
Solution 2
5.4 Estimating the State of a Dynamic System Recursively
Example 3
Solution 3
Example 4
Solution 4
5.5 Estimating the State of a Nonlinear System via the Extended Kalman Filter
Example 5
Solution 5
Example 6
Solution 6
Exercises
References
6 Remote Sensing
6.1 Introduction
6.2 Camera‐Type Sensors
Example 1
Solution 1
Example 2
Solution 2
Example 3
Solution 3
6.3 Stereo Vision
Example 4
Solution 4
6.4 Radar Sensing: Synthetic Aperture Radar
6.5 Pointing of Range Sensor at Detected Object
6.6 Detection Sensor in Scanning Mode
Example 5
Solution 5
Exercises
References
7 Target Tracking Including Multiple Targets with Multiple Sensors
7.1 Introduction
7.2 Regions of Confidence for Sensors
7.3 Model of Target Location
Example 1
Solution 1
7.4 Inventory of Detected Targets
Exercises
References
8 Obstacle Mapping and Its Application to Robot Navigation. 8.1 Introduction
8.2 Sensors for Obstacle Detection and Geo‐Registration
Example 1
Solution 1
8.3 Dead Reckoning Navigation
Example 2
Solution 2
Example 3
Solution 3
8.4 Use of Previously Detected Obstacles for Navigation
Example 4
Solution 4
Example 5
Solution 5
Example 6
Solution 6
8.5 Simultaneous Corrections of Coordinates of Detected Obstacles and of the Robot
Example 7
Solution 7
Exercises
References
9 Operating a Robotic Manipulator. 9.1 Introduction
9.2 Forward Kinematic Equations
Example 1
Solution 1
Example 2
Solution 2
Example 3
Solution 3
Example 4
Solution 4
9.3 Path Specification in Joint Space
Example 5
Solution 5
Example 6
Solution 6
9.4 Inverse Kinematic Equations
Example 7
Solution 7
Example 8
Solution 8
Example 9
Solution 9
9.5 Path Specification in Cartesian Space
Example 10
Solution 10
Example 11
Solution 11
Example 12
Solution 12
9.6 Velocity Relationships
Example 13
Solution 13
Example 14
Solution 14
9.7 Forces and Torques
Exercises
References
10 Remote Sensing via UAVs. 10.1 Introduction
10.2 Mounting of Sensors
10.3 Resolution of Sensors
10.4 Precision of Vehicle Instrumentation
10.5 Overall Geo‐Registration Precision
Exercise
References
11 Dynamics Modeling of AUVs. 11.1 Introduction
11.2 Motivation
11.3 Full Dynamic Model
11.4 Hydrodynamic Model
11.5 Reduced‐Order Longitudinal Dynamics
11.6 Computation of Steady Gliding Path in the Longitudinal Plane
11.7 Scaling Analysis
11.8 Spiraling Dynamics
11.9 Computation of Spiral Path
Exercises
References
12 Control of AUVs. 12.1 Introduction
12.2 Longitudinal Gliding Stabilization
12.2.1 Longitudinal Dynamic Model Reduction. Review of the Longitudinal Model
System Reduction via Singular Perturbation
12.2.2 Passivity‐Based Controller Design
12.2.3 Simulation Results
12.3 Yaw Angle Regulation. 12.3.1 Problem Statement
12.3.2 Sliding Mode Controller Design
12.3.3 Simulation Results
12.4 Spiral Path Tracking. 12.4.1 Steady Spiral and Its Differential Geometric Parameters
12.4.2 Two Degree‐of‐Freedom Control Design
Feedforward Control via Inverse Mapping of Steady Spiral Motion
2‐DOF Control Design with a Feedback H∞ Controller
12.4.2.0.1 Linearized Model About a Steady Spiral Trajectory
12.4.2.0.2 H∞ Controller Design
12.4.3 Simulation Results
Exercises
References
Appendix A Demonstrations of Undergraduate Student Robotic Projects. A.1 Introduction
A.2 Demonstration of the GEONAVOD Robot
A.3 Demonstration of the Automatic Balancing Robotic Bicycle (ABRB)
Index. a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
r
s
t
u
y
WILEY END USER LICENSE AGREEMENT
