Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Modeling Control State Estimation And Path Planning Methods For Autonomous Multirotor Aerial Robots
Download Modeling Control State Estimation And Path Planning Methods For Autonomous Multirotor Aerial Robots full books in PDF, epub, and Kindle. Read online Modeling Control State Estimation And Path Planning Methods For Autonomous Multirotor Aerial Robots ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots by : Christos Papachristos
Download or read book Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots written by Christos Papachristos and published by . This book was released on 2018 with total page 71 pages. Available in PDF, EPUB and Kindle. Book excerpt: This review paper aims to provide an overview of core modeling, control, estimation, and planning concepts and approaches for micro aerial robots of the rotorcraft class. A comprehensive description of a set of methods that enable automated flight control, state estimation in GPS–denied environments, as well as path planning techniques for autonomous exploration is provided, and serves as a holistic point of reference for those interested in the field of unmanned aerial systems. Further discussion for other applications of aerial robots concludes this manuscript.
Book Synopsis Autonomous Road Vehicle Path Planning and Tracking Control by : Levent Guvenc
Download or read book Autonomous Road Vehicle Path Planning and Tracking Control written by Levent Guvenc and published by John Wiley & Sons. This book was released on 2021-12-06 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.
Book Synopsis Path Planning for Motion Dependent State Estimation on Micro Aerial Vehicles by : Markus W. Achtelik (Ingénieur mécanicien.)
Download or read book Path Planning for Motion Dependent State Estimation on Micro Aerial Vehicles written by Markus W. Achtelik (Ingénieur mécanicien.) and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Path Planning for Autonomous Vehicle by : Umar Zakir Abdul Hamid
Download or read book Path Planning for Autonomous Vehicle written by Umar Zakir Abdul Hamid and published by BoD – Books on Demand. This book was released on 2019-10-02 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).
Book Synopsis Aerial Manipulation by : Matko Orsag
Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Book Synopsis State Estimation for Robotics by : Timothy D. Barfoot
Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2017-07-31 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
Book Synopsis Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning by : Adnan Tahirovic
Download or read book Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning written by Adnan Tahirovic and published by Springer Science & Business Media. This book was released on 2013-04-18 with total page 64 pages. Available in PDF, EPUB and Kindle. Book excerpt: Passivity-based Model Predictive Control for Mobile Vehicle Navigation represents a complete theoretical approach to the adoption of passivity-based model predictive control (MPC) for autonomous vehicle navigation in both indoor and outdoor environments. The brief also introduces analysis of the worst-case scenario that might occur during the task execution. Some of the questions answered in the text include: • how to use an MPC optimization framework for the mobile vehicle navigation approach; • how to guarantee safe task completion even in complex environments including obstacle avoidance and sideslip and rollover avoidance; and • what to expect in the worst-case scenario in which the roughness of the terrain leads the algorithm to generate the longest possible path to the goal. The passivity-based MPC approach provides a framework in which a wide range of complex vehicles can be accommodated to obtain a safer and more realizable tool during the path-planning stage. During task execution, the optimization step is continuously repeated to take into account new local sensor measurements. These ongoing changes make the path generated rather robust in comparison with techniques that fix the entire path prior to task execution. In addition to researchers working in MPC, engineers interested in vehicle path planning for a number of purposes: rescued mission in hazardous environments; humanitarian demining; agriculture; and even planetary exploration, will find this SpringerBrief to be instructive and helpful.
Book Synopsis Robot Operating System (ROS) by : Anis Koubaa
Download or read book Robot Operating System (ROS) written by Anis Koubaa and published by Springer. This book was released on 2018-07-05 with total page 604 pages. Available in PDF, EPUB and Kindle. Book excerpt: Building on the successful first and second volumes, this book is the third volume of the Springer book on the Robot Operating System (ROS): The Complete Reference. The Robot Operating System is evolving from year to year with a wealth of new contributed packages and enhanced capabilities. Further, the ROS is being integrated into various robots and systems and is becoming an embedded technology in emerging robotics platforms. The objective of this third volume is to provide readers with additional and comprehensive coverage of the ROS and an overview of the latest achievements, trends and packages developed with and for it. Combining tutorials, case studies, and research papers, the book consists of sixteen chapters and is divided into five parts. Part 1 presents multi-robot systems with the ROS. In Part 2, four chapters deal with the development of unmanned aerial systems and their applications. In turn, Part 3 highlights recent work related to navigation, motion planning and control. Part 4 discusses recently contributed ROS packages for security, ROS2, GPU usage, and real-time processing. Lastly, Part 5 deals with new interfaces allowing users to interact with robots. Taken together, the three volumes of this book offer a valuable reference guide for ROS users, researchers, learners and developers alike. Its breadth of coverage makes it a unique resource.
Book Synopsis Methods for Online Predictive Control of Multi-rotor Aerial Robots with Perception-driven Tasks Subject to Sensing and Actuation Constraints by : Martin Jacquet
Download or read book Methods for Online Predictive Control of Multi-rotor Aerial Robots with Perception-driven Tasks Subject to Sensing and Actuation Constraints written by Martin Jacquet and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Drones have an increasing place in numerous applications already started to take advantage from those, in particular in the fields of photography and video making, or simply for leisure activities. Simultaneously, the picture of autonomous aerial robots widely spread as a mark of innovation, such that many civilian of industrial applications are now envisioned through this aspect. One could cite, for instance, the persistent idea of aerial home delivery of goods, exploited by many companies. Another spread use-case is the deployment of fleets of aerial robots for monitoring activities, in hard-to-access environments, such as high mountains.The aerial robotics research community is active from numerous years, and the state of the art keeps improving, being through the conception of novel, more adaptive control algorithms, or the improvements of the hardware designs, opening new ranges of possibilities.The deployment of such robots in the scope of applications in uncontrolled environments comes with a lot of challenges, in particular regarding the perception of the surroundings. Exteroceptive sensors are indeed mandatory for most of autonomous applications. Among those sensors, cameras hold a peculiar position.It is on the one hand due to the simple onboard integration with their small size and weight,and on the other hand to the design of human-made environments, which are heavily built around visual markers (signs, illuminated signals...) However, maintaining visibility over objects or phenomenon often collide with the motion requirements of the robot, or with the tasks to which it is assigned. This effect is prominent when using underactuated robots, which are the most widely spread types of aerial vehicles, partly because of their higher energy efficiency. This property implies a strong coupling between position and orientation: the robot needs to tilt to move, and corollary moves when it tilts, thus altering the sensor bearing.From this assessment, the robotics community works to produce sensorimotor algorithms, able to produce motions while accounting for perception.This thesis takes place in this context, aiming at proposing such control methods to enforce the visibility over a phenomenon of interest through the onboard sensors. Moreover, to ensure the feasibility of the generated commands, it is required to account for the various actuation limitations of the robots. Finally, this thesis devotes to propose generic formulations, thus avoiding to propose ad hoc solutions, which would be contingent to a specific problem.To tackles these aspects under a common formalism, the proposed solutions are based on optimal and predictive control policies. These are based on numerical optimization, implying the need of accurate models, and thus accounting for the system nonlinearities, which are often disregarded for simplification.The contributions of this these are the aggregation of the various concepts in a common paradigm,and the formalization of the various mathematical functions transcribing the objectives and constraints related to perception. This paradigm is used in the scope of several applications related to usual perception-driven tasks in aerial robotics, namely the tracking of dynamic phenomenon, the improvement of this tracking, or the visual-inertial localization. Finally, the proposed solutions are implemented and tested in simulations and on real aerial robots.The work conducted throughout this thesis led to various publications in international peer-reviewed conferences and journals. All the related software production from these works are published open-source for the robotics community.
Book Synopsis Robot Operating System (ROS) by : Anis Koubaa
Download or read book Robot Operating System (ROS) written by Anis Koubaa and published by Springer. This book was released on 2017-05-25 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: This second volume is a continuation of the successful first volume of this Springer book, and as well as addressing broader topics it puts a particular focus on unmanned aerial vehicles (UAVs) with Robot Operating System (ROS). Consisting of three types of chapters: tutorials, cases studies, and research papers, it provides comprehensive additional material on ROS and the aspects of developing robotics systems, algorithms, frameworks, and applications with ROS. ROS is being increasingly integrated in almost all kinds of robots and is becoming the de-facto standard for developing applications and systems for robotics. Although the research community is actively developing applications with ROS and extending its features, amount of literature references is not representative of the huge amount of work being done. The book includes 19 chapters organized into six parts: Part 1 presents the control of UAVs with ROS, while in Part 2, three chapters deal with control of mobile robots. Part 3 provides recent work toward integrating ROS with Internet, cloud and distributed systems. Part 4 offers five case studies of service robots and field experiments. Part 5 presents signal-processing tools for perception and sensing, and lastly, Part 6 introduces advanced simulation frameworks. The diversity of topics in the book makes it a unique and valuable reference resource for ROS users, researchers, learners and developers.
Book Synopsis Aerial Robotic Manipulation by : Anibal Ollero
Download or read book Aerial Robotic Manipulation written by Anibal Ollero and published by Springer. This book was released on 2019-06-27 with total page 385 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.
Book Synopsis Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation and Control Maneuver by : Muhammad Aizzat Zakaria
Download or read book Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation and Control Maneuver written by Muhammad Aizzat Zakaria and published by . This book was released on 2019 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).
Book Synopsis Path Planning and Robust Control of Autonomous Vehicles by : Sheng Zhu (Mechanical engineer)
Download or read book Path Planning and Robust Control of Autonomous Vehicles written by Sheng Zhu (Mechanical engineer) and published by . This book was released on 2020 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous driving is gaining popularity in research interest and industry investment over the last decade, due to its potential to increase driving safety to avoid driver errors which account for over 90% of all motor vehicle crashes. It could also help to improve public mobility especially for the disabled, and to boost the productivity due to enlarged traffic capacity and accelerated traffic flows. The path planning and following control, as the two essential modules for autonomous driving, still face critical challenges in implementations in a dynamically changing driving environment. For the local path/trajectory planning, multifold requirements need to be satisfied including reactivity to avoid collision with other objects, smooth curvature variation for passenger comfort, feasibility in terms of vehicle control, and the computation efficiency for real-time implementations. The feedback control is required afterward to accurately follow the planned path or trajectory by deciding appropriate actuator inputs, and favors smooth control variations to avoid sudden jerks. The control may also subject to instability or performance deterioration due to continuously changing operating conditions along with the model uncertainties. The dissertation contributes by raising the framework of path planning and control to address these challenges. Local on-road path planning methods from two-dimensional (2D) geometric path to the model-based state trajectory is explored. The latter one is emphasized due to its advantages in considering the vehicle model, state and control constraints to ensure dynamic feasibility. The real-time simulation is made possible with the adoption of control parameterization and lookup tables to reduce computation cost, with scenarios showing its smooth planning and the reactivity in collision avoidance with other traffic agents. The dissertation also explores both robust gain-scheduling law and model predictive control (MPC) for path following. The parameter-space approach is introduced in the former with validated robust performance under the uncertainty of vehicle load, speed and tire saturation parameter through hardware-in-the-loop and vehicle experiments. The focus is also put on improving the safety of the intended functionality (SOTIF) to account for the potential risks caused by lack of situational awareness in the absence of a system failure. Such safety hazards include the functional inability to comprehend the situation and the insufficient robustness to diverse conditions. The dissertation enhanced the SOTIF with parameter estimation through sensor fusion to increase the vehicle situational awareness of its internal and external conditions, such as the road friction coefficient. The estimated road friction coefficient helps in planning a dynamically feasible trajectory under adverse road condition. The integration of vehicle stability control with autonomous driving functions is also explored in the case that the road friction coefficient estimation is not responsive due to insufficiency in time and excitations.
Book Synopsis Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation and Control Maneuver by : Muhammad Aizzat Zakaria
Download or read book Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation and Control Maneuver written by Muhammad Aizzat Zakaria and published by . This book was released on 2019 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).
Book Synopsis Power Tools for Using Record with Reason 4 by : Kurt Kurasaki
Download or read book Power Tools for Using Record with Reason 4 written by Kurt Kurasaki and published by Hal Leonard Publishing Corporation. This book was released on 2010-03 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. "Small Unmanned Aircraft" provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.
Book Synopsis Implementation and Assessment of State Estimation Algorithms in Simulation and Real-World Applications by : Paul James Klappa
Download or read book Implementation and Assessment of State Estimation Algorithms in Simulation and Real-World Applications written by Paul James Klappa and published by . This book was released on 2021 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: State estimation algorithms are important mathematical tools for engineers and are capable of improving system modeling capabilities and scenario outcomes. Typically, systems utilize a variety of sensors to measure certain system states such as velocity or position; however, these sensors suffer from noise and biases which contaminate the states. Through implementing a state estimation algorithm, noise from low-cost sensors may be mitigated to provide better system state estimates. Thus, a need exists to apply these algorithms while using low-cost sensors and to assess the performance in different scenarios. The algorithms that were selected for analysis in this research were the Kalman Filter and Extended Kalman Filter, which were implemented in two separate experiments. The first experiment encompassed a pursuer-evader scenario where the initial starting position of a pursuer and tracking measurement uncertainty of an evader were varied. Position of the evader was determined through two methods: raw tracking sensor measurements and estimates from a Kalman Filter. In both cases, the tracking sensor uncertainty was parameterized as a single term to represent combined uncertainty from all possible noise sources. This experiment showed that an increase in sensor measurement uncertainty led to an increase in the mean miss distance for the pursuer for both the raw tracking sensor method and Kalman Filter method. However, most engagement resulted in the Kalman Filter method providing an improved position estimate of the evader, reducing the average miss distance by upwards of 50%. In the second experiment, an Extended Kalman Filter was applied to an aircraft that experienced a multitude of free-flight hardware failures such as control surface and aerial delivery failures. The Extended Kalman Filter was designed to estimate the aircraft’s stability and control derivatives along with the aircraft’s dynamic states. Fixed-position aileron failures, ranging from -30° to 30°, were assessed and showed a loss of effectiveness in the control derivative state estimates. An aerial delivery failure from a bay located near the center of gravity resulted in small changes in some of the control derivatives and noise characteristics of the aircraft; however, a payload release failure from a bay located on the wing resulted in every state estimate changing. Post-failure state estimate changes indicate the potential of implementing fault isolation control schemes to mitigate the failure after initial detection. This research explored the usage of applying two state estimation algorithms to expand the modeling capabilities of two systems. Not only did the algorithms provide improved estimates for system states, the states that did not have direct sensor measurements were accurately estimated. Furthermore, the algorithms were tailored to each scenario and successfully utilized low-cost sensors to improve the scenario results.
Book Synopsis Frontiers in Robotics and Electromechanics by : Andrey Ronzhin
Download or read book Frontiers in Robotics and Electromechanics written by Andrey Ronzhin and published by Springer Nature. This book was released on 2023-03-01 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces intellectual control systems and electromechanics of heterogeneous robots. The book uncovers fundamental principles of robot control and recent developments in software and hardware of robots. The book presents solutions and discusses problems of single robotic devices as well as heterogeneous robotic teams while performing technological tasks that require informational, physical or energetic interaction with human users, environment and other robots. The book considers model–algorithmic and software–hardware control of ground, water and underwater robots, unmanned aerial vehicles, as well as their embedded and attached sub-systems, including manipulators, end-effectors, sensors, actuators, etc. The book will be useful for researchers of interdisciplinary issues related to robotics, electromechanics and artificial intelligence. The book is recommended for graduate students with a major/minor in the areas of robotics and mechatronics, management in technical systems, Internet of Things, artificial intelligence, electrical engineering, mechanical engineering and computer science.
