By Topic

Mobile Robots:Navigation, Control and Remote Sensing

Cover Image Copyright Year: 2011
Author(s): Gerald Cook
Publisher: Wiley-IEEE Press
Content Type : Books & eBooks
Topics: Communication, Networking & Broadcasting ;  Components, Circuits, Devices & Systems ;  Computing & Processing ;  Power, Energy, & Industry Applications ;  Robotics & Control Systems ;  Signal Processing & Analysis
  • Print

Abstract

A unique, accessible guide on mobile robot applicationsThe use of mobile robots to sense objects of interest plays a vital role in our society, from its value in military maneuvers to the exploration of natural resources to search and rescue operations. Written by an expert in the field, this book is the only resource to explain all the major areas of mobile robot applications—control, navigation, and remote sensing—which are essential to not only detecting desired objects but also providing accurate information on their precise locations. The material can be readily applied to any type of ground vehicle.In the controls area, both linear and nonlinear models of robot steering are presented. Through these applications, the reader is introduced to linearization and use of linear control design methods for control about a reference trajectory; use of Lyapunov stability theory for nonlinear control design; derivation of optimal control strategies via Pontryagin's maximum principle; and derivation of a local coordinate system. In navigation, the global positioning system (GPS) is described in detail, as are inertial navigation systems (INS), which are treated in terms of their ability to provide vehicle position as well as altitude. In remote sensing methods, the author addresses the problem of ground registration of detected objects of interest, which provides essential information for any future actions (such as inspection or retrieval).The book covers control of a robotic manipulator as well as airborne sensing and detection of objects on the ground. It also explains the use of optimal processing via the Kalman Filter when there are multiple detections of the same object, and the decision process of associating detections with the proper objects when track ing multiple objects.The book's clear presentation, numerous examples in each chapter, and references combine to make Mobile Robots a textbook for a one-semester electrical engineering graduate course on the same subject area. Since the topics covered in this volume cut across traditional curricular boundaries and bring together material from several engineering disciplines, this book also serves as a text for courses taught in mechanical or aerospace engineering, as well as a valuable resource for practicing engineers working in related areas.Cover Images: (top circle) U.S. Air Force Global Hawk, an unmanned reconnaissance aircraft, photograph reproduced with permission of Airforce Link; (bottom circle) autonomous underwater vehicle, photo taken by an employee of Bluefin Robotics Corporation during U.S. Navy exercise from the HSV Swift; (lower panel) artist's rendition of Mars Exploration Rover, image by Maas Digital LLC for Cornell University and NASA/JPL.

  •   Click to expandTable of Contents

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Frontmatter

      Gerald Cook Page(s): i - xvi
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      The prelims comprise:
      Half Title
      IEEE Press Editorial Board
      Title
      Copyright
      Dedication
      Contents
      Preface
      Introduction View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Kinematic Models for Mobile Robots

      Gerald Cook Page(s): 1 - 10
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Vehicles with Front-Wheel Steering
      Vehicles with Differential-Drive Steering
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Mobile Robot Control

      Gerald Cook Page(s): 11 - 78
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Front-Wheel Steered Vehicle, Heading Control
      Front-Wheel Steered Vehicle, Speed Control
      Heading and Speed Control for the Differential-Drive Robot
      Reference Trajectory and Incremental Control, Front-Wheel Steered Robot
      Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model
      Computed Control for Heading and Velocity, Front-Wheel Steered Robot
      Heading Control of Differential Drive Robot Using the Nonlinear Model
      Computed Control for Heading and Velocity, Differential-Drive Robot
      Steering Control Along a Path Using a Local Coordinate Frame
      Optimal Steering of Front-Wheel Steered Vehicle
      Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Robot Attitude

      Gerald Cook Page(s): 79 - 94
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Definition of Yaw, Pitch and Roll
      Rotation Matrix for Yaw
      Rotation Matrix for Pitch
      Rotation Matrix for Roll
      General Rotation Matrix
      Homogeneous Transformation
      Rotating a Vector
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Robot Navigation

      Gerald Cook Page(s): 95 - 147
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Coordinate Systems
      Earth-Centered Earth-Fixed Coordinate System
      Associated Coordinate Systems
      Universal Transverse Mercator (UTM) Coordinate System
      Global Positioning System
      Computing Receiver Location Using GPS, Numerical Methods
      Array of GPS Antennas
      Gimbaled Inertial Navigation Systems
      Strap-Down Inertial Navigation Systems
      Dead Reckoning or Deduced Reckoning
      Inclinometer/Compass
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Application of Kalman Filtering

      Gerald Cook Page(s): 149 - 190
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Estimating a Fixed Quantity Using Batch Processing
      Estimating a Fixed Quantity Using Recursive Processing
      Estimating the State of a Dynamic System Recursively
      Estimating the State of a Nonlinear System via the Extended Kalman Filter
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Remote Sensing

      Gerald Cook Page(s): 191 - 224
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Camera Type Sensors
      Stereo Vision
      Radar Sensing: Synthetic Aperture Radar (SAR)
      Pointing of Range Sensor at Detected Object
      Detection Sensor in Scanning Mode
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Target Tracking Including Multiple Targets with Multiple Sensors

      Gerald Cook Page(s): 225 - 246
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Regions of Confidence for Sensors
      Model of Target Location
      Inventory of Detected Targets
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Obstacle Mapping and its Application to Robot Navigation

      Gerald Cook Page(s): 247 - 264
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Sensors for Obstacle Detection and Geo-Registration
      Dead Reckoning Navigation
      Use of Previously Detected Obstacles for Navigation
      Simultaneous Corrections of Coordinates of Detected Obstacles and of the Robot
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Operating a Robotic Manipulator

      Gerald Cook Page(s): 265 - 293
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Forward Kinematic Equations
      Path Specification in Joint Space
      Inverse Kinematic Equations
      Path Specification in Cartesian Space
      Velocity Relationships
      Forces and Torques
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Remote Sensing via UAVS

      Gerald Cook Page(s): 295 - 300
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This chapter contains sections titled:
      Introduction
      Mounting of Sensors
      Resolution of Sensors
      Precision of Vehicle Instrumentation
      Overall Geo-Registration Precision
      Exercises
      References View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Appendix A: Demonstrations of Undergraduate Student Robotic Projects

      Gerald Cook Page(s): 301 - 303
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      This appendix contains sections titled:
      Introduction
      Demonstration of the GEONAVOD Robot
      Demonstration of the Automatic Balancing Robotic Bicycle (ABRB) View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Index

      Gerald Cook Page(s): 305 - 307
      Copyright Year: 2011

      Wiley-IEEE Press eBook Chapters

      No abstract. View full abstract»