Cover image for Introduction to Mobile Robot Control

Introduction to Mobile Robot Control

Author Spyros G Tzafestas
Release Date: 2013/10/01
ISBN: 9780124170490
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Book Description

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

Table of Contents

  1. Cover image
  2. Title page
  3. Table of Contents
  4. Copyright
  5. Dedication
  6. Preface
  7. List of acknowledged authors and collaborators
  8. Principal symbols and acronyms
  9. Quotations about robotics
  10. 1. Mobile Robots: General Concepts
    1. 1.1 Introduction
    2. 1.2 Definition and History of Robots
    3. 1.3 Ground Robot Locomotion
    4. References
  11. 2. Mobile Robot Kinematics
    1. 2.1 Introduction
    2. 2.2 Background Concepts
    3. 2.3 Nonholonomic Mobile Robots
    4. 2.4 Omnidirectional WMR Kinematic Modeling
    5. References
  12. 3. Mobile Robot Dynamics
    1. 3.1 Introduction
    2. 3.2 General Robot Dynamic Modeling
    3. 3.3 Differential-Drive WMR
    4. 3.4 Car-Like WMR Dynamic Model
    5. 3.5 Three-Wheel Omnidirectional Mobile Robot
    6. 3.6 Four Mecanum-Wheel Omnidirectional Robot
    7. References
  13. 4. Mobile Robot Sensors
    1. 4.1 Introduction
    2. 4.2 Sensor Classification and Characteristics
    3. 4.3 Position and Velocity Sensors
    4. 4.4 Distance Sensors
    5. 4.5 Robot Vision
    6. 4.6 Some Other Robotic Sensors
    7. 4.7 Global Positioning System
    8. 4.8 Appendix: Lens and Camera Optics
    9. References
  14. 5. Mobile Robot Control I: The Lyapunov-Based Method
    1. 5.1 Introduction
    2. 5.2 Background Concepts
    3. 5.3 General Robot Controllers
    4. 5.4 Control of Differential Drive Mobile Robot
    5. 5.5 Computed Torque Control of Differential Drive Mobile Robot
    6. 5.6 Car-Like Mobile Robot Control
    7. 5.7 Omnidirectional Mobile Robot Control
    8. References
  15. 6. Mobile Robot Control II: Affine Systems and Invariant Manifold Methods
    1. 6.1 Introduction
    2. 6.2 Background Concepts
    3. 6.3 Feedback Linearization of Mobile Robots
    4. 6.4 Mobile Robot Feedback Stabilizing Control Using Invariant Manifolds
    5. References
  16. 7. Mobile Robot Control III: Adaptive and Robust Methods
    1. 7.1 Introduction
    2. 7.2 Background Concepts
    3. 7.3 Model Reference Adaptive Control of Mobile Robots
    4. 7.4 Sliding Mode Control of Mobile Robots
    5. 7.5 Sliding Mode Control in Polar Coordinates
    6. 7.6 Robust Control of Differential Drive Robot Using the Lyapunov Method
    7. References
  17. 8. Mobile Robot Control IV: Fuzzy and Neural Methods
    1. 8.1 Introduction
    2. 8.2 Background Concepts
    3. 8.3 Fuzzy and Neural Robot Control: General Issues
    4. 8.4 Fuzzy Control of Mobile Robots
    5. 8.5 Neural Control of Mobile Robots
    6. References
  18. 9. Mobile Robot Control V: Vision-Based Methods
    1. 9.1 Introduction
    2. 9.2 Background Concepts
    3. 9.3 Position-Based Visual Control: General Issues
    4. 9.4 Image-Based Visual Control: General Issues
    5. 9.5 Mobile Robot Visual Control
    6. 9.6 Keeping a Landmark in the Field of View
    7. 9.7 Adaptive Linear Path Following Visual Control
    8. 9.8 Image-Based Mobile Robot Visual Servoing
    9. 9.9 Mobile Robot Visual Servoing Using Omnidirectional Vision
    10. References
  19. 10. Mobile Manipulator Modeling and Control
    1. 10.1 Introduction
    2. 10.2 Background Concepts
    3. 10.3 MM Modeling
    4. 10.4 Control of MMs
    5. 10.5 Vision-Based Control of MMs
    6. References
  20. 11. Mobile Robot Path, Motion, and Task Planning
    1. 11.1 Introduction
    2. 11.2 General Concepts
    3. 11.3 Path Planning of Mobile Robots
    4. 11.4 Model-Based Robot Path Planning
    5. 11.5 Mobile Robot Motion Planning
    6. 11.6 Mobile Robot Task Planning
    7. References
  21. 12. Mobile Robot Localization and Mapping
    1. 12.1 Introduction
    2. 12.2 Background Concepts
    3. 12.3 Sensor Imperfections
    4. 12.4 Relative Localization
    5. 12.5 Kinematic Analysis of Dead Reckoning
    6. 12.6 Absolute Localization
    7. 12.7 Kalman Filter-Based Localization and Sensor Calibration and Fusion
    8. 12.8 Simultaneous Localization and Mapping
    9. References
  22. 13. Experimental Studies
    1. 13.1 Introduction
    2. 13.2 Model Reference Adaptive Control
    3. 13.3 Lyapunov-Based Robust Control
    4. 13.4 Pose Stabilizing/Parking Control by a Polar-Based Controller
    5. 13.5 Stabilization Using Invariant Manifold-Based Controllers
    6. 13.6 Sliding Mode Fuzzy Logic Control
    7. 13.7 Vision-Based Control
    8. 13.8 Sliding Mode Control of Omnidirectional Mobile Robot
    9. 13.9 Control of Differential Drive Mobile Manipulator
    10. 13.10 Integrated Global and Local Fuzzy Logic-Based Path Planner
    11. 13.11 Hybrid Fuzzy Neural Path Planning in Uncertain Environments
    12. 13.12 Extended Kalman Filter-Based Mobile Robot SLAM
    13. 13.13 Particle Filter-Based SLAM for the Cooperation of Two Robots
    14. 13.14 Neural Network Mobile Robot Control and Navigation
    15. 13.15 Fuzzy Tracking Control of Differential Drive Robot
    16. 13.16 Vision-Based Adaptive Robust Tracking Control of Differential Drive Robot
    17. 13.17 Mobile Manipulator Spherical Catadioptric Visual Control
    18. References
  23. 14. Generic Systemic and Software Architectures for Mobile Robot Intelligent Control
    1. 14.1 Introduction
    2. 14.2 Generic Intelligent Control Architectures
    3. 14.3 Design Characteristics of Mobile Robot Control Software Architectures
    4. 14.4 Brief Description of Two Mobile Robot Control Software Architectures
    5. 14.5 Comparative Evaluation of Two Mobile Robot Control Software Architectures
    6. 14.6 Intelligent Human–Robot Interfaces
    7. 14.7 Two Intelligent Mobile Robot Research Prototypes
    8. 14.8 Discussion of Some Further Issues
    9. References
  24. 15. Mobile Robots at Work
    1. 15.1 Introduction
    2. 15.2 Mobile Robots in the Factory and Industry
    3. 15.3 Mobile Robots in the Society
    4. 15.4 Assistive Mobile Robots
    5. 15.5 Mobile Telerobots and Web Robots
    6. 15.6 Other Mobile Robot Applications
    7. 15.7 Mobile Robot Safety
    8. References
  25. Problems
  26. Robotics Web Sites
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