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Mobile Robots: Navigation, Control and Remote Sensing
John Wiley and Sons Ltd, Oct 2011, Pages: 324
The theme which prevails throughout this book is the use of mobile robots for sensing objects of interest. This has particular application in environments where humans would be endangered such as in outer space (on the surface of Mars), where volcanoes have erupted (Mount St. Helens), on the battlefield (searching for landmines or improvised explosive devices, IEDs) and numerous others.
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:
- Linearization and use of linear control design methods for control about a reference trajectory
- Use of Lyapunov stability theory for nonlinear control design
- Derivation of optimal control strategies via Pontryagins maximum principle,
- 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. The Global Positioning System (GPS) is introduced and described in significant detail. 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.
Reviews:
'The real name of the book must have been 'Mobile Robots: Navigation, Control, and Remote Sensing Made Easy. Under every topic it starts from very basics and continues with the complicated math and topics, examples are finely chosen. The author, Dr. Gerald Cook, handled the navigation topics so well, understanding the difficult topics like the applications of Kalman filters, global positioning systems, Mercator’s maps becomes easy. All the theory is explained with examples that are followed by Matlab programs. Obviously it is an excellent book for graduate students who work in the area of Robot Navigation, plus it may also serve as helpful reading material for those who want to work with the Kalman filters, GPS, and earth’s maps. The book is also a good source for the people who work in the area of unmanned vehicles.”
Dr. Atalay Barkana, Dr. Osman Parlaktuna, Dr. Metin Ozkan, Dr. Ahmet Yazici all of whom are working in the Electrical-Electronics Engineering Department of Eskisehir Osmangazi University
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