Mobile Robots

Navigation, Control and Sensing, Surface Robots and AUVs

Gerald Cook, Feitian Zhang

• Publisher: Wiley-IEEE Press
• Year: 2020
• Print ISBN: 9781119534785
• eBook ISBN: 9781119534822
• Edition: 2
• Topic: Technology & Engineering
• Subtopic: Robotics
• Index: Technology & Engineering

Presents the normal kinematic and dynamic equations for robots, including mobile robots, with coordinate transformations and various control strategies

This fully updated edition examines the use of mobile robots for sensing objects of interest, and focus primarily on control, navigation, and remote sensing. It also includes an entirely new section on modeling and control of autonomous underwater vehicles (AUVs), which exhibits unique complex three-dimensional dynamics.

Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs, Second Edition starts with a chapter on kinematic models for mobile robots. It then offers a detailed chapter on robot control, examining several different configurations of mobile robots. Following sections look at robot attitude and navigation. The application of Kalman Filtering is covered. Readers are also provided with a section on remote sensing and sensors. Other chapters discuss: target tracking, including multiple targets with multiple sensors; obstacle mapping and its application to robot navigation; operating a robotic manipulator; and remote sensing via UAVs. The last two sections deal with the dynamics modeling of AUVs and control of AUVs. In addition, this text:

• Includes two new chapters dealing with control of underwater vehicles
• Covers control schemes including linearization and use of linear control design methods, Lyapunov stability theory, and more
• Addresses the problem of ground registration of detected objects of interest given their pixel coordinates in the sensor frame
• Analyzes geo-registration errors as a function of sensor precision and sensor pointing uncertainty

Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs is intended for use as a textbook for a graduate course of the same title and can also serve as a reference book for practicing engineers working in related areas.

1
Kinematic Models for Mobile Robots

1.1 Introduction

This chapter is devoted to the development of kinematic models for two types of wheeled robots. The kinematic equations are developed along with the basic geometrical properties of achievable motion. The two configurations considered here do not exhaust the myriad of possible configurations for wheeled robots; however, they serve as an adequate test bed for the development and discussion of the principals involved.

1.2 Vehicles with Front‐Wheel Steering

The first type of mobile robot to be considered is the one with front‐wheel steering. Here the vehicle is usually powered via the rear wheels, and the steering is achieved by way of an actuator for turning the front wheels.

In Figure 1.1, we have a diagram for a four‐wheel front‐wheel‐steered robot. The equations would also apply for the case of a single front wheel. The angle the front wheels make with respect to the longitudinal axis of the robot, y_robot, is defined as α, measured in the counter‐clockwise direction. The angle that the longitudinal axis, y_robot, makes with respect to the y_ground axis is defined as ψ, also measured in the counter‐clockwise direction. The instantaneous center about which the robot is turning is the point of intersection of the two lines passing through the wheel axes.

From geometry we have

which may be solved to yield the instantaneous radius of curvature for the path of the midpoint of the rear axle of the robot.

Figure 1.1 Schematic diagram of the front‐wheel steered robot.

(1.1)

From geometry we also have

or

which can be written as

(1.2)

If one held the steering angle α constant, the trajectory would result in a circle whose radius is dictated by the robot length and the actual steering angle used per equation (1.1).

Now the instantaneous curvature itself is defined as the ratio of change in angle divided by change in distance or change in angle per distance traveled. It is given by

which is the inverse of the instantaneous radius of curvature. Thus, the radius of curvature may be interpreted as

...

Table of contents

• Cover
• Table of Contents
• Preface
• About the Authors
• Introduction
• 1 Kinematic Models for Mobile Robots
• 2 Mobile Robot Control
• 3 Robot Attitude
• 4 Robot Navigation
• 5 Application of Kalman Filtering
• 6 Remote Sensing
• 7 Target Tracking Including Multiple Targets with Multiple Sensors
• 8 Obstacle Mapping and Its Application to Robot Navigation
• 9 Operating a Robotic Manipulator
• 10 Remote Sensing via UAVs
• 11 Dynamics Modeling of AUVs
• 12 Control of AUVs
• Appendix A: Demonstrations of Undergraduate Student Robotic ProjectsDemonstrations of Undergraduate Student Robotic Projects
• Index
• End User License Agreement