Embedded Control for Mobile Robotic Applications (Hardcover)

An all-in-one resource for designing and implementing embedded control in mobile robotics

In Embedded Control for Mobile Robotic Applications, a distinguished trio of researchers delivers an authoritative and fulsome resource for understanding embedded control and robotics. The book includes coverage of a variety of embedded platforms, their use in controller implementation, stability analyses of designed controllers, and two new approaches for designing embedded controllers.

The authors offer a full chapter on Field-Programmable-Gate-Array (FPGA) architecture development for controller design that is perfect for both practitioners and students taking robotics courses and provide a companion website that includes MATLAB codes for simulation and embedded platform-specific code for mobile robotic applications (in Embedded C and Verilog).

The two approaches discussed by the authors--the top-down methodology and the bottom-up methodology--are of immediate practical utility to both practicing professionals in the field and students studying control applications and mobile robotics. The book also offers:

• A thorough introduction to embedded control, including processor, IC, and design technology, as well as a discussion of limitations in embedded control design
• Comprehensive explorations of the bottom-up and top-down methods, including computations using CORDIC, interval arithmetic, sliding surface design, and switched nonlinear systems
• Practical discussions of generic FPGA architecture design, including Verilog, PID controllers, DC motors and Encoder, and a systematic approach for designing architecture using FSMD
• In-depth examinations of discrete-time controller design, including the approximation to discrete-time transfer function and embedded implementation stability

Perfect for practitioners working in embedded control design and control applications in robotics, Embedded Control for Mobile Robotic Applications will also earn a place in the libraries of academicians, researchers, senior undergraduate students, and graduate students in these fields.

一本關於設計和實施嵌入式控制在移動機器人中的全方位資源

在《嵌入式控制應用於移動機器人》一書中，一組傑出的研究人員提供了一個權威且豐富的資源，用於理解嵌入式控制和機器人技術。本書包括對各種嵌入式平台的介紹，以及它們在控制器實現中的應用、設計控制器的穩定性分析，以及兩種新的嵌入式控制器設計方法。

作者提供了一整章關於用於控制器設計的現場可編程閘陣列（FPGA）架構開發，非常適合從業人員和修讀機器人課程的學生使用，並提供了一個附帶網站，其中包含用於模擬的MATLAB代碼和用於移動機器人應用的嵌入式平台特定代碼（使用嵌入式C和Verilog）。

作者討論的兩種方法——自上而下方法和自下而上方法——對於從業人員和學習控制應用和移動機器人的學生來說，具有即時的實用價值。本書還提供了：

- 對嵌入式控制的全面介紹，包括處理器、集成電路和設計技術，以及嵌入式控制設計的限制討論
- 對自下而上和自上而下方法的全面探討，包括使用CORDIC、區間算術、滑動曲面設計和切換非線性系統的計算
- 對通用FPGA架構設計的深入探討，包括Verilog、PID控制器、直流馬達和編碼器，以及使用FSMD設計架構的系統方法
- 對離散時間控制器設計的深入研究，包括離散時間傳輸函數的近似和嵌入式實現的穩定性

《嵌入式控制應用於移動機器人》非常適合從事嵌入式控制設計和機器人控制應用的從業人員，同時也適合學術界、研究人員、高年級本科生和研究生的圖書館收藏。

Leena Vachhani, Professor, Indian Institute of Technology Bombay, Mumbai, India. Leena Vachhani received the Ph.D. degree from IIT Madras, Chennai, India, in 2009. Since Dec, 2009 she has been with the Systems and Control Engineering Group of IIT Bombay, Mumbai, India. Her research interests include hardware/software codesign for mobile robots, sensors for robotic tasks, robot motion planning algorithms, multiagent mapping and patrolling applications.

Pranjal Vyas, Advanced Remanufacturing Technology Center, Agency of Science, Technology and Research, (A*STAR), Singapore. Pranjal Vyas received his Ph.D. in Systems and Control Engineering at Indian Institute of Technology Bombay, India in 2017. His research interests include mobile robotics, real time embedded systems, sensors for robotic tasks, robot motion planning algorithms, computer vision and machine learning.

Arunkumar G. K. is a Research Scholar with the Indian Institute of Technology Bombay, Mumbai, India. His research is focused on robotic path planning algorithms and multi-robot systems.

Leena Vachhani，印度孟買的印度理工學院孟買分校（Indian Institute of Technology Bombay）教授。Leena Vachhani於2009年在印度馬德拉斯理工學院（IIT Madras）獲得博士學位。自2009年12月以來，她一直在印度孟買的印度理工學院的系統與控制工程組工作。她的研究興趣包括移動機器人的硬體/軟體共同設計、用於機器人任務的感測器、機器人運動規劃算法、多智能體映射和巡邏應用。

Pranjal Vyas，新加坡科學、技術和研究局（Agency of Science, Technology and Research, A*STAR）的先進再製造技術中心（Advanced Remanufacturing Technology Center）研究員。Pranjal Vyas於2017年在印度孟買的印度理工學院孟買分校獲得系統與控制工程的博士學位。他的研究興趣包括移動機器人、即時嵌入式系統、用於機器人任務的感測器、機器人運動規劃算法、計算機視覺和機器學習。

Arunkumar G. K.是印度孟買的印度理工學院的研究學者。他的研究專注於機器人路徑規劃算法和多機器人系統。