Table of Contents

Cover image

Title page

Copyright

Preface

Acknowledgements

Chapter 1: Introduction to Mobile Robotics

Abstract

1.1 Introduction

1.2 History

1.3 About the Book

Chapter 2: Motion Modeling for Mobile Robots

Abstract

2.1 Introduction

2.2 Kinematics of Wheeled Mobile Robots

2.3 Motion Constraints

2.4 Dynamic Model of a Mobile System With Constraints

Chapter 3: Control of Wheeled Mobile Systems

Abstract

3.1 Introduction

3.2 Control to Reference Pose

3.3 Trajectory Tracking Control

3.4 Optimal Velocity Profile Estimation for a Known Path

Chapter 4: Path Planning

Abstract

4.1 Introduction

4.2 Environment Presentation for Path Planning Purposes

4.3 Simple Path Planning Algorithms: Bug Algorithms

4.4 Graph-Based Path Planning Methods

Chapter 5: Sensors Used in Mobile Systems

Abstract

5.1 Introduction

5.2 Coordinate Frame Transformations

5.3 Pose Measurement Methods

5.4 Sensors

Chapter 6: Nondeterministic Events in Mobile Systems

Abstract

6.1 Introduction

6.2 Basics of Probability

6.3 State Estimation

6.4 Bayesian Filter

6.5 Kalman Filter

6.6 Particle Filter

Chapter 7: Autonomous Guided Vehicles

Abstract

7.1 Introduction

7.2 Autonomous Transportation Vehicles

7.3 Wheeled Mobile Robots in Agriculture

7.4 Wheeled Mobile Robots in Industry

7.5 Wheeled Mobile Robots in Domestic Environments

7.6 Assistive Mobile Robots in Walking Rehabilitation Therapy

Chapter 8: Project Examples for Laboratory Practice

Abstract

8.1 Introduction

8.2 Localization Based on Bayesian Filter Within a Network of Paths and Crossroads

8.3 Localization Based on Extended Kalman Filter Using Indoor Global Positioning System and Odometry

8.4 Particle-Filter-Based Localization in a Pattern of Colored Tiles

8.5 Control of Vehicles in a Linear Formation

8.6 Motion and Strategy Control of Multiagent Soccer Robots

8.7 Image-Based Control of a Mobile Robot

8.8 Particle-Filter-Based Localization Using an Array of Ultrasonic Distance Sensors

8.9 Path Planning of a Mobile Robot in a Known Environment

Index

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