Mobile Robots

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.

GERALD COOK, ScD, is the Earle C. Williams Professor Emeritus of Electrical Engineering and past chairman of Electrical and Computer Engineering at George Mason University. He was previously Chairman of Electrical and Biomedical Engineering at Vanderbilt University and before that, Professor of Electrical Engineering at the University of Virginia. He is a Life Fellow of the Institute of Electrical and Electronics Engineers (IEEE), a former president of the IEEE Industrial Electronics Society and a former Editor-in-Chief of the IEEE Transactions on Industrial Electronics.

FEITIAN ZHANG, PHD, is an Assistant Professor in the Electrical & Computer Engineering Department at George Mason University. He was awarded the GMU Multidisciplinary Research Awards in 2017 and the Office of Naval Research (ONR) Summer Faculty Fellowship in 2019. He is a member of the Institute of Electrical and Electronic Engineers (IEEE) and American Society of Mechanical Engineers (ASME).