Embedded control for mobile robotic applications
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| Hauptverfasser: | , , |
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| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Hoboken, New Jersey
Wiley
[2022]
|
| Schriftenreihe: | IEEE Press Series on Control Systems Theory and Applications
|
| Online-Zugang: | DE-1050 DE-91 |
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Inhaltsangabe:
- Cover
- Title Page
- Copyright
- Contents
- Preface
- Acknowledgments
- Acronyms
- Introduction
- About the Companion Website
- Chapter 1 Embedded Technology for Mobile Robotics
- 1.1 Embedded Control System
- 1.2 Mobile Robotics
- 1.2.1 Robot Model for 2D Motion
- 1.2.1.1 Generic Model
- 1.2.1.2 Unicycle Model
- 1.2.1.3 Differential-Drive Mobile Robot or DDMR
- 1.2.1.4 Front Wheel Steering Robot or FWSR
- 1.2.1.5 Chained form of Unicycle
- 1.2.1.6 Single Integrator Model of Unicycle
- 1.2.1.7 Discrete-time Unicycle Model
- 1.2.2 Robot Model for 3D Motion
- 1.2.2.1 Quadcopter
- An Aerial Vehicle
- 1.2.2.2 Six-Thrusters Configuration
- An Underwater Vehicle
- 1.3 Embedded Technology
- 1.3.1 Processor Technology
- 1.3.2 IC Technology
- 1.4 Commercially Available Embedded Processors
- 1.4.1 Microprocessor
- 1.4.2 Microcontroller
- 1.4.3 Field Programmable Gate Arrays (FPGA)
- 1.4.4 Digital Signal Processor
- 1.5 Notes and Further Readings
- Chapter 2 Discrete-time Controller Design
- 2.1 Transfer Function for Equivalent Discrete-time System
- 2.2 Discrete-time PID Controller Design
- 2.3 Stability in Embedded Implementation
- 2.3.1 Sampling
- 2.3.2 Quantization
- 2.3.3 Processing Time
- 2.4 Notes and Further Readings
- Chapter 3 Embedded Control and Robotics
- 3.1 Transformations
- 3.1.1 2D Transformations
- 3.1.2 3D Transformations
- 3.2 Collision Detection and Avoidance
- 3.2.1 Vector Field Histogram (VFH)
- 3.2.2 Curvature Velocity Technique (CVM)
- 3.2.3 Dynamic Window Approach (DWA)
- 3.3 Localization
- 3.4 Path Planning
- 3.4.1 Potential Field Path Planning
- 3.4.2 Graph-based Path Planning
- 3.4.2.1 Dijkstra's Algorithm
- 3.4.2.2 A* Algorithm
- 3.4.2.3 Rapidly-exploring Random Trees (RRT) Algorithm
- 3.5 Multi-agent Scenarios
- 3.6 Notes and Further Readings
- Chapter 4 Bottom-up Method
- 4.1 Computations Using CORDIC1
- 4.1.1 Coordinate Transformation
- 4.1.1.1 Cartesian to Polar Coordinates Conversion
- 4.1.1.2 Polar to Cartesian Coordinate Conversion
- 4.1.2 Exponential and Logarithmic Functions
- 4.2 Interval Arithmetic2
- 4.2.1 Basics of Interval Arithmetic
- 4.2.2 Inclusion Function and Inclusion Tests
- 4.3 Collision Detection Using Interval Technique3
- 4.4 Free Interval Computation for Collision Avoidance4
- 4.4.1 Illustration for Detecting Collision and Computing Free interval
- 4.5 Notes for Further Reading
- Chapter 5 Top-Down Method
- 5.1 Robust Controller Design
- 5.1.1 Basic Definitions
- 5.1.2 State Feedback Control
- 5.1.3 Sliding-Mode Control
- 5.1.4 Sliding Surface Design for Position Stabilization in 2D
- 5.1.5 Position Stabilization for a Vehicle in 3D
- 5.1.6 Embedded Implementation
- 5.2 Switched Nonlinear System
- 5.2.1 Swarm Aggregation as a Switched Nonlinear System
- 5.2.1.1 Free Subsystem s1
- 5.2.1.2 Engaged Subsystem s2
- 5.2.2 Embedded Implementation