Introduction to Mobile Robot Control [Hardcover]

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.

• Clearly and authoritatively presents mobile robot concepts
• Richly illustrated throughout with figures and examples
• Key concepts demonstrated with a host of experimental and simulation examples
• No prior knowledge of the subject is required; each chapter commences with an introduction and background

1.Mobile Robots: General Concepts
2.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&l“: