Modelling And Control Of An Autonomous Two Wheeled Vehicle

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Modelling and Control of an Autonomous Two-Wheeled Vehicle

Author : Alen Turnwald
Publisher : Logos Verlag Berlin GmbH
ISBN 13 : 3832552057
Total Pages : 175 pages
Book Rating : 4.8/5 (325 download)

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Book Synopsis Modelling and Control of an Autonomous Two-Wheeled Vehicle by : Alen Turnwald

Download or read book Modelling and Control of an Autonomous Two-Wheeled Vehicle written by Alen Turnwald and published by Logos Verlag Berlin GmbH. This book was released on 2020-11-13 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt: With respect to the future urban mobility, modern electrical bicycles, advanced motorcycles and innovative two-wheeled vehicles are arresting enormous amount of attention. Especially, model-based control and optimal trajectory planning for such vehicles are important to the research and development of the future. Therefore, a reliable and yet usable vehicle model as well as a systematic approach to motion control for two-wheeled vehicles are essential, to which this work makes a contribution. Currently available two-wheeled vehicle models are mostly either too complex to be used for a systematic control synthesis, or too simple such that the physical behaviour of the vehicle is no more represented. In this thesis, a unifying approach to modelling and control for autonomous two-wheeled vehicles is presented. The resulting model is generally valid and physically detailed enough to represent the characteristic dynamical behaviour such as the self-stability. At the same time, it is suited to a systematic control synthesis. Furthermore, the systematic extenddability, for instance by a rider, is demonstrated. The model is validated by simulations and by comparison to well-known models from the literature. The proposed vehicle model is derived in the Lagrangian and Hamiltonian framework and used for model-based optimal trajectory planning. Furthermore, a passivity-based trajectory tracking controller is designed based on the resulting port-Hamiltonian system using the so-called generalised canonical transformations. Such a controller is physically interpretable and robust against parameter uncertainties. To this end, existing approaches of passivity-based controller design are extended and adjusted for two-wheeled vehicles. Finally, a prototype two-wheeled vehicle is introduced which is used for experimental validation of the model and to demonstrate motion control algorithms for autonomous two-wheeled vehicles.

Modelling, Simulation and Control of Two-Wheeled Vehicles

Author : Mara Tanelli
Publisher : John Wiley & Sons
ISBN 13 : 111853638X
Total Pages : 372 pages
Book Rating : 4.1/5 (185 download)

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Book Synopsis Modelling, Simulation and Control of Two-Wheeled Vehicles by : Mara Tanelli

Download or read book Modelling, Simulation and Control of Two-Wheeled Vehicles written by Mara Tanelli and published by John Wiley & Sons. This book was released on 2014-02-04 with total page 372 pages. Available in PDF, EPUB and Kindle. Book excerpt: Enhanced e-book includes videos Many books have been written on modelling, simulation and control of four-wheeled vehicles (cars, in particular). However, due to the very specific and different dynamics of two-wheeled vehicles, it is very difficult to reuse previous knowledge gained on cars for two-wheeled vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles presents all of the unique features of two-wheeled vehicles, comprehensively covering the main methods, tools and approaches to address the modelling, simulation and control design issues. With contributions from leading researchers, this book also offers a perspective on the future trends in the field, outlining the challenges and the industrial and academic development scenarios. Extensive reference to real-world problems and experimental tests is also included throughout. Key features: The first book to cover all aspects of two-wheeled vehicle dynamics and control Collates cutting-edge research from leading international researchers in the field Covers motorcycle control – a subject gaining more and more attention both from an academic and an industrial viewpoint Covers modelling, simulation and control, areas that are integrated in two-wheeled vehicles, and therefore must be considered together in order to gain an insight into this very specific field of research Presents analysis of experimental data and reports on the results obtained on instrumented vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles is a comprehensive reference for those in academia who are interested in the state of the art of two-wheeled vehicles, and is also a useful source of information for industrial practitioners.

Modelling, Simulation and Control of Two-Wheeled Vehicles, Enhanced Edition

Author : Mara Tanelli
Publisher : John Wiley & Sons
ISBN 13 : 1118802896
Total Pages : 406 pages
Book Rating : 4.1/5 (188 download)

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Book Synopsis Modelling, Simulation and Control of Two-Wheeled Vehicles, Enhanced Edition by : Mara Tanelli

Download or read book Modelling, Simulation and Control of Two-Wheeled Vehicles, Enhanced Edition written by Mara Tanelli and published by John Wiley & Sons. This book was released on 2014-04-23 with total page 406 pages. Available in PDF, EPUB and Kindle. Book excerpt: Enhanced e-book includes videos Many books have been written on modelling, simulation and control of four-wheeled vehicles (cars, in particular). However, due to the very specific and different dynamics of two-wheeled vehicles, it is very difficult to reuse previous knowledge gained on cars for two-wheeled vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles presents all of the unique features of two-wheeled vehicles, comprehensively covering the main methods, tools and approaches to address the modelling, simulation and control design issues. With contributions from leading researchers, this book also offers a perspective on the future trends in the field, outlining the challenges and the industrial and academic development scenarios. Extensive reference to real-world problems and experimental tests is also included throughout. Key features: The first book to cover all aspects of two-wheeled vehicle dynamics and control Collates cutting-edge research from leading international researchers in the field Covers motorcycle control – a subject gaining more and more attention both from an academic and an industrial viewpoint Covers modelling, simulation and control, areas that are integrated in two-wheeled vehicles, and therefore must be considered together in order to gain an insight into this very specific field of research Presents analysis of experimental data and reports on the results obtained on instrumented vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles is a comprehensive reference for those in academia who are interested in the state of the art of two-wheeled vehicles, and is also a useful source of information for industrial practitioners.

New Developments and Advances in Robot Control

Author : Nabil Derbel
Publisher : Springer
ISBN 13 : 9811322120
Total Pages : 359 pages
Book Rating : 4.8/5 (113 download)

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Book Synopsis New Developments and Advances in Robot Control by : Nabil Derbel

Download or read book New Developments and Advances in Robot Control written by Nabil Derbel and published by Springer. This book was released on 2019-01-24 with total page 359 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights relevant studies and applications in the area of robotics, which reflect the latest research, from interdisciplinary theoretical studies and computational algorithm development, to representative applications. It presents chapters on advanced control, such as fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis and fault tolerant control etc. and addresses topics including cloud robotics, cable-driven robots, two-wheeled robots, mobile robots, swarm robots, hybrid vehicle, and drones. Each chapter employs a uniform structure: background, motivation, quantitative development (equations), case studies/illustration/tutorial (simulations, experiences, curves, tables, etc.), allowing readers to easily tailor the techniques to their own applications.

Test Platform Design and Control of a Bicycle-type Two-wheeled Autonomous Vehicle

Author : Xinqi Wang
Publisher :
ISBN 13 : 9780494725948
Total Pages : pages
Book Rating : 4.7/5 (259 download)

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Book Synopsis Test Platform Design and Control of a Bicycle-type Two-wheeled Autonomous Vehicle by : Xinqi Wang

Download or read book Test Platform Design and Control of a Bicycle-type Two-wheeled Autonomous Vehicle written by Xinqi Wang and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Adaptive Mobile Robotics

Author : Abul K. M. Azad
Publisher : World Scientific
ISBN 13 : 9814415952
Total Pages : 904 pages
Book Rating : 4.8/5 (144 download)

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Book Synopsis Adaptive Mobile Robotics by : Abul K. M. Azad

Download or read book Adaptive Mobile Robotics written by Abul K. M. Azad and published by World Scientific. This book was released on 2012 with total page 904 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

Adaptive Mobile Robotics - Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines

Download Adaptive Mobile Robotics - Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines PDF Online Free

Author : Mohammad Osman Tokhi
Publisher : World Scientific
ISBN 13 : 9814415960
Total Pages : 904 pages
Book Rating : 4.8/5 (144 download)

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Book Synopsis Adaptive Mobile Robotics - Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines by : Mohammad Osman Tokhi

Download or read book Adaptive Mobile Robotics - Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Mohammad Osman Tokhi and published by World Scientific. This book was released on 2012-07-11 with total page 904 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

Robotic Manipulators and Vehicles

Author : Gerasimos Rigatos
Publisher : Springer
ISBN 13 : 331977851X
Total Pages : 759 pages
Book Rating : 4.3/5 (197 download)

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Book Synopsis Robotic Manipulators and Vehicles by : Gerasimos Rigatos

Download or read book Robotic Manipulators and Vehicles written by Gerasimos Rigatos and published by Springer. This book was released on 2018-05-24 with total page 759 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Motion Control of an Autonomous Vehicle with Loss of Wheel-ground Contact Avoidance Using Dynamic Model Based Predictive Control

Author : Bumsoo Kim
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (137 download)

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Book Synopsis Motion Control of an Autonomous Vehicle with Loss of Wheel-ground Contact Avoidance Using Dynamic Model Based Predictive Control by : Bumsoo Kim

Download or read book Motion Control of an Autonomous Vehicle with Loss of Wheel-ground Contact Avoidance Using Dynamic Model Based Predictive Control written by Bumsoo Kim and published by . This book was released on 2001 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous motion of vehicles requires an operational space control approach which is able to generate and correct the trajectory of the vehicle in order to avoid collisions with unexpected obstacles and takes into account the contact forces between the wheels and the ground such that the slippage and tip-over of the vehicle can be avoided. A dynamic model of the autonomous vehicle is required for such a control approach in order to verify continuously wheel-terrain contact stability. For achieving autonomy, the dynamics based control approach is formulated for a three-wheeled vehicle with front wheel driving and steering. Exact input-output linearization of the vehicle dynamics facilitates the design of the operational space control and permits the enhancement of the autonomy of the vehicle. However, the sufficient smoothness condition for applying feedback linearization has to be continuously observed and this requires the avoidance of actuators torque saturation, wheel-ground longitudinal and lateral slippage and tip-over of the vehicle for motion on horizontal plane as well as inclined surfaces. In this thesis, first is presented a complete three dimensional kinematic and dynamic model of a three-wheeled autonomous vehicle built in our laboratory. Newtonian dynamics was used for developing the dynamic model of the autonomous vehicle. It continues with the path planning algorithm using the Timoshenko's 4th order differential slender beam equation and the analysis of the two part control scheme. The control scheme contains an external loop for a linear controller, a path planner in operational space, and an inner loop exact input-output linearization controller in curvilinear space (s-delta). A dynamic model based predictive control is proposed for avoidance of the violation of the smoothness condition for exact linearization, while at the same time conserving path planning results by modifying the input commands.

Two Wheeled Robotic Machine with an Extended Rod

Author : K. M. Goher
Publisher : LAP Lambert Academic Publishing
ISBN 13 : 9783845422176
Total Pages : 224 pages
Book Rating : 4.4/5 (221 download)

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Book Synopsis Two Wheeled Robotic Machine with an Extended Rod by : K. M. Goher

Download or read book Two Wheeled Robotic Machine with an Extended Rod written by K. M. Goher and published by LAP Lambert Academic Publishing. This book was released on 2011-08 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: The nature of a two-wheeled vehicle poses several interesting control questions. Industrial applications of such vehicles will arise to a great extent in the coming few years; for instance, material handling in narrow paths and assistive technologies. This book investigates modelling and control of a novel design of a two wheeled vehicle with additional mobility feature along its intermediate body. It is considered to be the first in investigating a two wheeled vehicle with such configuration, associated uncertainties and dynamic behaviour of the attached payload. As far as the system of two wheeled robotic machine is concerned, incorporating a linear actuator to the IB of two wheeled vehicles has not addressed in literature before. An range of investigation of certain parameters on the stability of the system is carried out in this book. The impact of a set of varying parameters on the capability of the control strategies and the system behaviour are considered. The capability of the control approaches is investigated in dealing with various sources of uncertainties in terms of internally and externally varying dynamics of the vehicle while ensuring the system stability.

Emerging Trends in Mobile Robotics

Author : Hideo Fujimoto
Publisher : World Scientific
ISBN 13 : 9814327972
Total Pages : 1387 pages
Book Rating : 4.8/5 (143 download)

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Book Synopsis Emerging Trends in Mobile Robotics by : Hideo Fujimoto

Download or read book Emerging Trends in Mobile Robotics written by Hideo Fujimoto and published by World Scientific. This book was released on 2010 with total page 1387 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2010 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

Emerging Trends In Mobile Robotics - Proceedings Of The 13th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines

Download Emerging Trends In Mobile Robotics - Proceedings Of The 13th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines PDF Online Free

Author : Hiromi Mochiyama
Publisher : World Scientific
ISBN 13 : 9814462578
Total Pages : 1387 pages
Book Rating : 4.8/5 (144 download)

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Book Synopsis Emerging Trends In Mobile Robotics - Proceedings Of The 13th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines by : Hiromi Mochiyama

Download or read book Emerging Trends In Mobile Robotics - Proceedings Of The 13th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Hiromi Mochiyama and published by World Scientific. This book was released on 2010-08-23 with total page 1387 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2010 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

Advances in Intelligent Vehicles

Author : Yaobin Chen
Publisher : Academic Press
ISBN 13 : 0123973279
Total Pages : 333 pages
Book Rating : 4.1/5 (239 download)

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Book Synopsis Advances in Intelligent Vehicles by : Yaobin Chen

Download or read book Advances in Intelligent Vehicles written by Yaobin Chen and published by Academic Press. This book was released on 2014-03-20 with total page 333 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advances in Intelligent Vehicles presents recent advances in intelligent vehicle technologies that enhance the safety, reliability, and performance of vehicles and vehicular networks and systems. This book provides readers with up-to-date research results and cutting-edge technologies in the area of intelligent vehicles and transportation systems. Topics covered include virtual and staged testing scenarios, collision avoidance, human factors, and modeling techniques. The Series in Intelligent Systems publishes titles that cover state-of-the-art knowledge and the latest advances in research and development in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. Provides researchers and engineers with up-to-date research results and state-of-the art technologies in the area of intelligent vehicles and transportation systems Covers hot topics, including driver assistance systems; cooperative vehicle-highway systems; collision avoidance; pedestrian protection; image, radar and lidar signal processing; and V2V and V2I communications

Motorcycle Dynamics

Author : Vittore Cossalter
Publisher : Lulu.com
ISBN 13 : 1430308613
Total Pages : 374 pages
Book Rating : 4.4/5 (33 download)

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Book Synopsis Motorcycle Dynamics by : Vittore Cossalter

Download or read book Motorcycle Dynamics written by Vittore Cossalter and published by Lulu.com. This book was released on 2006 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book presents the theory of motorcycle dynamics. It is a technical book for the engineer, student, or technically/mathematically inclined motorcycle enthusiast. Motorcycle Dynamics offers a wealth of information compiled from the most up-to-date research into the behavior and performance of motorcycles. The structure of the book and abundant graphs assist in understanding an exceptionally complicated subject. The book presents a large number of graphs and figures that make the understanding easy.

Advances in Applied Nonlinear Optimal Control

Author : Gerasimos Rigatos
Publisher : Cambridge Scholars Publishing
ISBN 13 : 1527562468
Total Pages : 741 pages
Book Rating : 4.5/5 (275 download)

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Book Synopsis Advances in Applied Nonlinear Optimal Control by : Gerasimos Rigatos

Download or read book Advances in Applied Nonlinear Optimal Control written by Gerasimos Rigatos and published by Cambridge Scholars Publishing. This book was released on 2020-11-19 with total page 741 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume discusses advances in applied nonlinear optimal control, comprising both theoretical analysis of the developed control methods and case studies about their use in robotics, mechatronics, electric power generation, power electronics, micro-electronics, biological systems, biomedical systems, financial systems and industrial production processes. The advantages of the nonlinear optimal control approaches which are developed here are that, by applying approximate linearization of the controlled systems’ state-space description, one can avoid the elaborated state variables transformations (diffeomorphisms) which are required by global linearization-based control methods. The book also applies the control input directly to the power unit of the controlled systems and not on an equivalent linearized description, thus avoiding the inverse transformations met in global linearization-based control methods and the potential appearance of singularity problems. The method adopted here also retains the known advantages of optimal control, that is, the best trade-off between accurate tracking of reference setpoints and moderate variations of the control inputs. The book’s findings on nonlinear optimal control are a substantial contribution to the areas of nonlinear control and complex dynamical systems, and will find use in several research and engineering disciplines and in practical applications.

The First Outstanding 50 Years of “Università Politecnica delle Marche”

Author : Sauro Longhi
Publisher : Springer Nature
ISBN 13 : 3030327620
Total Pages : 406 pages
Book Rating : 4.0/5 (33 download)

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Book Synopsis The First Outstanding 50 Years of “Università Politecnica delle Marche” by : Sauro Longhi

Download or read book The First Outstanding 50 Years of “Università Politecnica delle Marche” written by Sauro Longhi and published by Springer Nature. This book was released on 2019-12-16 with total page 406 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book describes the significant multidisciplinary research findings at the Università Politecnica delle Marche and the expected future advances. It addresses some of the most dramatic challenges posed by today’s fast-growing, global society and the changes it has caused. It also discusses solutions to improve the wellbeing of human beings. The book covers the main research achievements in the different disciplines of the physical sciences and engineering, as well as several research lines developed at the university’s Faculty of Engineering in the fields of electronic and information engineering, telecommunications, biomedical engineering, mechanical engineering, manufacturing technologies, energy, advanced materials, chemistry, physics of matter, mathematical sciences, geotechnical engineering, circular economy, urban planning, construction engineering, infrastructures and environment protection, technologies and digitization of the built environment and cultural heritage. It highlights the international relevance and multidisciplinarity of research at the university as well as the planned research lines for the next years.

Wheeled Mobile Robotics

Author : Gregor Klancar
Publisher : Butterworth-Heinemann
ISBN 13 : 0128042389
Total Pages : 504 pages
Book Rating : 4.1/5 (28 download)

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Book Synopsis Wheeled Mobile Robotics by : Gregor Klancar

Download or read book Wheeled Mobile Robotics written by Gregor Klancar and published by Butterworth-Heinemann. This book was released on 2017-02-02 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners Includes several examples of the application of algorithms in simulations and real laboratory projects Presents foundation in mobile robotics theory before continuing with more advanced topics Self-sufficient to beginner readers, covering all important topics in the mobile robotics field Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems