Mobile Robots: Navigation, Control and Remote Sensing (Hardcover)

Gerald Cook

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商品描述

An important feature of this book is the particular combination of topics included. These are (1) control, (2) navigation and (3) remote sensing, all with application to mobile robots. Much of the material is readily extended to any type ground vehicle.

In the controls area, robot steering is the issue. Both linear and nonlinear models are treated. Various control schemes are utilized, and through these applications the reader is introduced to methods such as: (1) Linearization and use of linear control design methods for control about a reference trajectory,  (2) Use of Lyapunov stability theory for nonlinear control design,  (3) Derivation of optimal control strategies via Pontryagin’s maximum principle,  (4) Derivation of a local coordinate system which is fundamental for the steering of vehicles along a path never before traversed. This local coordinate system has application regardless of the control design methods utilized.

 In the navigation area, various coordinate systems are introduced, and the transformations among them are derived. (1) The Global Positioning System (GPS) is introduced and described in significant detail. (2) Also introduced and discussed are inertial navigation systems (INS). These two methods are treated in terms of their ability to provide vehicle position as well as attitude. A preceding chapter is devoted to coordinate rotations and transformations since they play an important role in the understanding of this body of theory.

商品描述(中文翻譯)

這本書的一個重要特點是包含了特定的主題組合,包括控制、導航和遙感,並且都應用於移動機器人。其中大部分的內容都可以輕易地擴展到任何類型的地面車輛。

在控制領域中,機器人的轉向是一個重要議題。這裡涵蓋了線性和非線性模型的處理方法。使用了各種控制方案,通過這些應用,讀者將會了解到以下方法:(1) 線性化和使用線性控制設計方法來控制參考軌跡,(2) 使用李亞普諾夫穩定性理論進行非線性控制設計,(3) 通過庞特里亚金最大值原理推導出最優控制策略,(4) 推導出一個局部坐標系統,該系統對於控制車輛沿著未曾行走過的路徑行駛非常重要。無論使用何種控制設計方法,這個局部坐標系統都有應用價值。

在導航領域中,介紹了各種坐標系統,並推導了它們之間的轉換方法。首先介紹並詳細描述了全球定位系統(GPS)。同時也介紹並討論了慣性導航系統(INS)。這兩種方法都是根據它們提供車輛位置和姿態的能力來進行討論。在前面的章節中,專門討論了坐標旋轉和轉換,因為它們在理解這個理論體系中扮演著重要角色。