Autonomous mobile robots : sensing, control, decision making, and applications / [edited by] Shuzhi Sam Ge, Frank L. Lewis.

Format:

Book

Contributor:

Ge, S. S. (Shuzhi S.)

Lewis, Frank L.

Series:

Control engineering (Taylor & Francis) ; 22.

Control engineering ; 22

Language:

English

Subjects (All):

Mobile robots.

Physical Description:

xxi, 709 pages : illustrations ; 24 cm.

Place of Publication:

Boca Raton, FL : Taylor & Francis, 2006.

Summary:

Serving as the first comprehensive reference on this interdisciplinary technology, Autonomous Mobile Robots authoritatively addresses the theoretical, technical, and practical aspects of the field. The book examines in detail the key components that form an autonomous mobile robot, from sensors and sensor fusion to modeling and control, map building and path planning, and decision making and autonomy, and to the final integration of these components for diversified applications. Expert contributors share hard-won insight into the practical implementation and integration issues involved in developing autonomous and open robotic systems and include examples, illustrations, and applications.

Contents:

I Sensors and Sensor Fusion 1

Chapter 1 Visual Guidance for Autonomous Vehicles: Capability and Challenges / Andrew Shacklock, Jian Xu, Han Wang 5

Chapter 2 Millimeter Wave RADAR Power-Range Spectra Interpretation for Multiple Feature Detection / Martin Adams, Ebi Jose 41

Chapter 3 Data Fusion via Kalman Filter: GPS and INS / Jingrong Cheng, Yu Lu, Elmer R. Thomas, Jay A. Farrell 99

Chapter 4 Landmarks and Triangulation in Navigation / Huosheng Hu, Julian Ryde, Jiali Shen 149

II Modeling and Control 187

Chapter 5 Stabilization of Nonholonomic Systems / Alessandro Astolfi 191

Chapter 6 Adaptive Neural-Fuzzy Control of Nonholonomic Mobile Robots / Fan Hong, Shuzhi Sam Ge, Frank L. Lewis, Tong Heng Lee 229

Chapter 7 Adaptive Control of Mobile Robots Including Actuator Dynamics / Zhuping Wang, Chun-Yi Su, Shuzhi Sam Ge 267

Chapter 8 Unified Control Design for Autonomous Car-Like Vehicle Tracking Maneuvers / Danwei Wang, Minhtuan Pham 295

III Map Building and Path Planning 331

Chapter 9 Map Building and SLAM Algorithms / Jose A. Castellanos, Jose Neira, Juan D. Tardos 335

Chapter 10 Motion Planning: Recent Developments / Hector H. Gonzalez-Banos, David Hsu, Jean-Claude Latombe 373

Chapter 11 Multi-Robot Cooperation / Rafael Fierro, Luiz Chaimowicz, Vijay Kumar 417

IV Decision Making and Autonomy 461

Chapter 12 Knowledge Representation and Decision Making for Mobile Robots / Elena Messina, Stephen Balakirsky 465

Chapter 13 Algorithms for Planning under Uncertainty in Prediction and Sensing / Jason M. O'Kane, Benjamin Tovar, Peng Cheng, Steven M. LaValle 501

Chapter 14 Behavior-Based Coordination in Multi-Robot Systems / Chris Jones, Maja J. Mataric 549

V System Integration and Applications 571

Chapter 15 Integration for Complex Consumer Robotic Systems: Case Studies and Analysis / Mario E. Munich, James P. Ostrowski, Paolo Pirjanian 573

Chapter 16 Automotive Systems/Robotic Vehicles / Michel R. Parent, Stephane R. Petti 613

Chapter 17 Intelligent Systems / Sesh Commuri, James S. Albus, Anthony Barbera 655.

Notes:

Includes bibliographical references and index.

ISBN:

0849337488

OCLC:

69593807

Online:

Publisher description