This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.

Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

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

Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.

This book constitutes the 10th official archival publication devoted to RoboCup. It documents the achievements presented at the RoboCup 2006 International Symposium, held in Bremen, Germany, in June 2006, in conjunction with the RoboCup Competition. It serves as a valuable source of reference and inspiration for those interested in robotics or distributed intelligence.

Presents the normal kinematic and dynamic equations for robots, including mobile robots, with coordinate transformations and various control strategies This fully updated edition examines the use of mobile robots for sensing objects of interest, and focus primarily on control, navigation, and remote sensing. It also includes an entirely new section on modeling and control of autonomous underwater vehicles (AUVs), which exhibits unique complex three-dimensional dynamics. Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs, Second Edition starts with a chapter on kinematic models for mobile robots. It then offers a detailed chapter on robot control, examining several different configurations of mobile robots. Following sections look at robot attitude and navigation. The application of Kalman Filtering is covered. Readers are also provided with a section on remote sensing and sensors. Other chapters discuss: target tracking, including multiple targets with multiple sensors; obstacle mapping and its application to robot navigation; operating a robotic manipulator; and remote sensing via UAVs. The last two sections deal with the dynamics modeling of AUVs and control of AUVs. In addition, this text: Includes two new chapters dealing with control of underwater vehicles Covers control schemes including linearization and use of linear control design methods, Lyapunov stability theory, and more Addresses the problem of ground registration of detected objects of interest given their pixel coordinates in the sensor frame Analyzes geo-registration errors as a function of sensor precision and sensor pointing uncertainty Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs is intended for use as a textbook for a graduate course of the same title and can also serve as a reference book for practicing engineers working in related areas.