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Mobile Robots : Navigation, Control and Remote Sensing.

Author: Gerald Cook
Publisher: Somerset : Wiley, 2011.
Edition/Format:   eBook : Document : EnglishView all editions and formats
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Genre/Form: Electronic books
Additional Physical Format: Print version:
Cook, Gerald.
Mobile Robots : Navigation, Control and Remote Sensing.
Somerset : Wiley, ©2011
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Gerald Cook
ISBN: 9781118029046 1118029046
OCLC Number: 945450137
Notes: 9.4 path specification in cartesian space.
Description: 1 online resource (268 pages)
Contents: Series page; Title page; Copyright page; DEDICATION; PREFACE; INTRODUCTION; 1 KINEMATIC MODELS FOR MOBILE ROBOTS; 1.0 INTRODUCTION; 1.1 VEHICLES WITH FRONT-WHEEL STEERING; 1.2 VEHICLES WITH DIFFERENTIAL-DRIVE STEERING; 2 MOBILE ROBOT CONTROL; 2.0 INTRODUCTION; 2.1 FRONT-WHEEL STEERED VEHICLE, HEADING CONTROL; 2.2 FRONT-WHEEL STEERED VEHICLE, SPEED CONTROL; 2.3 HEADING AND SPEED CONTROL FOR THE DIFFERENTIAL-DRIVE ROBOT; 2.4 REFERENCE TRAJECTORY AND INCREMENTAL CONTROL, FRONT-WHEEL STEERED ROBOT; 2.5 HEADING CONTROL OF FRONT-WHEEL STEERED ROBOT USING THE NONLINEAR MODEL. 2.6 computed control for heading and velocity, front-wheel steered robot2.7 heading control of differential drive robot using the nonlinear model; 2.8 computed control for heading and velocity, differential-drive robot; 2.9 steering control along a path using a local coordinate frame; 2.10 optimal steering of front-wheel steered vehicle; 2.11 optimal steering of front-wheel steered vehicle, free final heading angle; 3 robot attitude; 3.0 introduction; 3.1 definition of yaw, pitch and roll; 3.2 rotation matrix for yaw; 3.3 rotation matrix for pitch; 3.4 rotation matrix for roll. 3.5 general rotation matrix3.6 homogeneous transformation; 3.7 rotating a vector; 4 robot navigation; 4.0 introduction; 4.1 coordinate systems; 4.2 earth-centered earth-fixed coordinate system; 4.3 associated coordinate systems; 4.4 universal transverse mercator (utm) coordinate system; 4.5 global positioning system; 4.6 computing receiver location using gps, numerical methods; 4.7 array of gps antennas; 4.8 gimbaled inertial navigation systems; 4.9 strap-down inertial navigation systems; 4.10 dead reckoning or deduced reckoning; 4.11 inclinometer/compass; 5 application of kalman filtering. 5.0 introduction5.1 estimating a fixed quantity using batch processing; 5.2 estimating a fixed quantity using recursive processing; 5.3 estimating the state of a dynamic system recursively; 5.4 estimating the state of a nonlinear system via the extended kalman filter; 6 remote sensing; 6.0 introduction; 6.1 camera type sensors; 6.2 stereo vision; 6.3 radar sensing: synthetic aperture radar (sar); 6.4 pointing of range sensor at detected object; 6.5 detection sensor in scanning mode; 7 target tracking including multiple targets with multiple sensors; 7.0 introduction. 7.1 regions of confidence for sensors7.2 model of target location; 7.3 inventory of detected targets; 8 obstacle mapping and its application to robot navigation; 8.0 introduction; 8.1 sensors for obstacle detection and geo-registration; 8.2 dead reckoning navigation; 8.3 use of previously detected obstacles for navigation; 8.4 simultaneous corrections of coordinates of detected obstacles and of the robot; 9 operating a robotic manipulator; 9.0 introduction; 9.1 forward kinematic equations; 9.2 path specification in joint space; 9.3 inverse kinematic equations.

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