Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society.
Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field.
Table of Contents
1.Mobile Robots: General Concepts2.Mobile Robot Kinematics
3.Mobile Robot Dynamics
4.Mobile Robot Sensors
5.Mobile Robot Control I: The Lyapunov-Based Method
6.Mobile Robot Control II: Affine Systems and Invariant Manifold Methods
7.Mobile Robot Control III: Adaptive and Robust Methods
8.Mobile Robot Control IV: Fuzzy and Neural Methods
9.Mobile Robot Control V: Vision-Based Methods
10.Mobile Manipulator Modeling and Control
11.Mobile Robot Path, Motion, and Task Planning
12.Mobile Robot Localization and Mapping
13.Experimental Studies
14.Generic Systemic and Software Architectures for Mobile Robot Intelligent Control
15.Mobile Robots at Work
16.Problems
