Description - Mobile Robots by Gerald Cook
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: (1) Linearization and use of linear control
design methods for control about a reference trajectory, (2)
Use of Lyapunov stability theory for nonlinear control
design, (3) Derivation of optimal control strategies via
Pontryagin?s maximum principle, (4) 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. (1) The
Global Positioning System (GPS) is introduced and described in
significant detail. (2) 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.
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Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs
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