| Description |
1 online resource (179 p.) |
| Series |
IEEE Press Series on Control Systems Theory and Applications Ser |
|
IEEE Press Series on Control Systems Theory and Applications Ser
|
| Contents |
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 |
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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 |
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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 |
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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 |
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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 |
| Notes |
Description based upon print version of record |
|
5.3 Notes and Further Readings |
| Form |
Electronic book
|
| Author |
Vyas, Pranjal
|
|
G. K., Arunkumar
|
| ISBN |
9781119812395 |
|
1119812399 |
|
