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Safe robot navigation among moving and steady obstacles /
Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehic...
| Clasificación: | Libro Electrónico |
|---|---|
| Autores principales: | , , , |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Oxford, UK :
Butterworth Heinemann,
[2016]
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| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- Front Cover; Safe Robot Navigation Among Moving and Steady Obstacles; Copyright; Contents; Preface; Abbreviations; Frequently used notations; Chapter 1: Introduction; 1.1 Collision-free navigation of wheeled robots among moving and steady obstacles; 1.2 Overview and organization of the book; 1.3 Sliding mode control; 1.4 Experimental equipment; 1.4.1 Laboratorial wheeled robot Pioneer P3-DX; 1.4.2 Intelligent autonomous wheelchair system; 1.4.3 Autonomous hospital bed system; Chapter 2: Fundamentals of sliding mode control; 2.1 Introduction; 2.2 Sliding motion; 2.3 Filippov solutions
- Chapter 3: Survey of algorithms for safe navigation of mobile robots in complex environments3.1 Introduction; 3.1.1 Exclusions; 3.2 Problem considerations; 3.2.1 Environment; 3.2.2 Kinematics of mobile robots; 3.2.3 Sensor data; 3.2.4 Optimality criteria; 3.2.5 Biological inspiration; 3.2.6 Implementation examples; 3.2.7 Summary of the methods reviewed; 3.3 Model predictive control; 3.3.1 Robust MPC; 3.3.2 Nonlinear MPC; 3.3.3 Planning algorithms; 3.4 Sensor-based techniques; 3.4.1 Obstacle avoidance via boundary following; 3.4.1.1 Distance based; 3.4.1.2 Sliding mode control
- 3.4.1.3 Bug algorithms3.4.1.4 Full information based; 3.4.2 Sensor-based path planning; 3.4.3 Other reactive methods; 3.4.3.1 Artificial potential field methods; 3.4.3.2 Uncategorized approaches; 3.5 Moving obstacles; 3.5.1 Human-like obstacles; 3.5.2 Known obstacles; 3.5.3 Kinematically constrained obstacles; 3.5.3.1 Path-based methods; 3.5.3.2 Reactive methods; 3.6 Multiple robot navigation; 3.6.1 Communication types; 3.6.2 Reactive methods; 3.6.2.1 Potential field methods; 3.6.2.2 Reciprocal collision avoidance methods; 3.6.2.3 Hybrid logic approaches; 3.6.3 Decentralized MPC
- Chapter 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles4.1 Introduction; 4.2 System description and main assumptions; 4.3 Off-line shortest path planning; 4.4 On-line navigation; 4.5 Computer simulations; 4.6 Experiments with a real robot; Chapter 5: Reactive navigation of wheeled robots for border patrolling; 5.1 Introduction; 5.2 Boundary following using a minimum distance sensor: System description and problem statement; 5.3 Main assumptions of theoretical analysis; 5.4 Navigation for border patrolling based on minimum distance measurements
- 5.4.1 Proof of Theorem 4.15.5 Computer simulations of border patrolling with a minimum distance sensor; 5.6 Boundary following with a rigidly mounted distance sensor: Problem setup; 5.7 Assumptions of theoretical analysis and tuningof the navigation controller; 5.7.1 Tuning of the navigation controller; 5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposednavigation law; 5.8.1 Illustrative analysis of the convergence domain; 5.8.2 Proofs of Theorem 8.1 and Lemmas 8.1 and 8.2; 5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor