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Book Cover
Author Matveev, Alexey S., author

Title Safe robot navigation among moving and steady obstacles / Alexey S. Matveev, Andrey V. Savkin, Michael Hoy, Chao Wang
Published Oxford, UK : Butterworth Heinemann, [2016]
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Contents Front Cover; Safe Robot Navigation Among Moving and Steady Obstacles; Copyright; Contents; Preface; Abbreviations; Frequently used notations; Chapter 1: Introduction; 1.1 Collision-free navigation of wheeled robots among moving and steady obstacles; 1.2 Overview and organization of the book; 1.3 Sliding mode control; 1.4 Experimental equipment; 1.4.1 Laboratorial wheeled robot Pioneer P3-DX; 1.4.2 Intelligent autonomous wheelchair system; 1.4.3 Autonomous hospital bed system; Chapter 2: Fundamentals of sliding mode control; 2.1 Introduction; 2.2 Sliding motion; 2.3 Filippov solutions Bug algorithms3.4.1.4 Full information based; 3.4.2 Sensor-based path planning; 3.4.3 Other reactive methods; Artificial potential field methods; Uncategorized approaches; 3.5 Moving obstacles; 3.5.1 Human-like obstacles; 3.5.2 Known obstacles; 3.5.3 Kinematically constrained obstacles; Path-based methods; Reactive methods; 3.6 Multiple robot navigation; 3.6.1 Communication types; 3.6.2 Reactive methods; Potential field methods; Reciprocal collision avoidance methods; Hybrid logic approaches; 3.6.3 Decentralized MPC
5.4.1 Proof of Theorem 4.15.5 Computer simulations of border patrolling with a minimum distance sensor; 5.6 Boundary following with a rigidly mounted distance sensor: Problem setup; 5.7 Assumptions of theoretical analysis and tuningof the navigation controller; 5.7.1 Tuning of the navigation controller; 5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposednavigation law; 5.8.1 Illustrative analysis of the convergence domain; 5.8.2 Proofs of Theorem 8.1 and Lemmas 8.1 and 8.2; 5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor
Chapter 3: Survey of algorithms for safe navigation of mobile robots in complex environments3.1 Introduction; 3.1.1 Exclusions; 3.2 Problem considerations; 3.2.1 Environment; 3.2.2 Kinematics of mobile robots; 3.2.3 Sensor data; 3.2.4 Optimality criteria; 3.2.5 Biological inspiration; 3.2.6 Implementation examples; 3.2.7 Summary of the methods reviewed; 3.3 Model predictive control; 3.3.1 Robust MPC; 3.3.2 Nonlinear MPC; 3.3.3 Planning algorithms; 3.4 Sensor-based techniques; 3.4.1 Obstacle avoidance via boundary following; Distance based; Sliding mode control
Chapter 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles4.1 Introduction; 4.2 System description and main assumptions; 4.3 Off-line shortest path planning; 4.4 On-line navigation; 4.5 Computer simulations; 4.6 Experiments with a real robot; Chapter 5: Reactive navigation of wheeled robots for border patrolling; 5.1 Introduction; 5.2 Boundary following using a minimum distance sensor: System description and problem statement; 5.3 Main assumptions of theoretical analysis; 5.4 Navigation for border patrolling based on minimum distance measurements
Summary Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital
Bibliography Includes bibliographical references and index
Notes Vendor-supplied metadata
Subject Autonomous robots.
Mobile robots -- Navigation.
Form Electronic book
Author Hoy, Michael, 1953- author
Savkin, Andrey V., author
Wang, Chao, author
ISBN 012803730X (electronic bk)
0128037571 (electronic bk)
9780128037300 (electronic bk)
9780128037577 (electronic bk)