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E-grāmata: Safe Robot Navigation Among Moving and Steady Obstacles

, (Professor, School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW, Australia), (Full Professor, Department of Mathematics and Mechanics, Saint Petersburg University, Russia), (Quantitative )
  • Formāts: EPUB+DRM
  • Izdošanas datums: 25-Sep-2015
  • Izdevniecība: Butterworth-Heinemann Inc
  • Valoda: eng
  • ISBN-13: 9780128037577
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Safe Robot Navigation Among Moving and Steady ObstaclesPalielināt
  • Formāts: EPUB+DRM
  • Izdošanas datums: 25-Sep-2015
  • Izdevniecība: Butterworth-Heinemann Inc
  • Valoda: eng
  • ISBN-13: 9780128037577
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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.

  • First book on collision free reactive robot navigation in unknown dynamic environments
  • Bridges the gap between mathematical model and practical algorithms
  • Presents implementable and computationally efficient algorithms of robot navigation
  • Includes mathematically rigorous proofs of their convergence
  • A detailed review of existing reactive navigation algorithm for obstacle avoidance
  • Describes fundamentals of sliding mode control

Papildus informācija

An in-depth and mathematically rigorous introduction to the state of the art in Safe Robot Navigation
Preface ix
Abbreviations xi
Frequently used notations xiii
1 Introduction
1(14)
1.1 Collision-free navigation of wheeled robots among moving and steady obstacles
1(3)
1.2 Overview and organization of the book
4(3)
1.3 Sliding mode control
7(1)
1.4 Experimental equipment
8(7)
2 Fundamentals of sliding mode control
15(6)
2.1 Introduction
15(1)
2.2 Sliding motion
15(3)
2.3 Filippov solutions
18(3)
3 Survey of algorithms for safe navigation of mobile robots in complex environments
21(30)
3.1 Introduction
21(3)
3.2 Problem considerations
24(6)
3.3 Model predictive control
30(3)
3.4 Sensor-based techniques
33(9)
3.5 Moving obstacles
42(3)
3.6 Multiple robot navigation
45(6)
4 Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles
51(12)
4.1 Introduction
51(1)
4.2 System description and main assumptions
52(2)
4.3 Off-line shortest path planning
54(3)
4.4 On-line navigation
57(1)
4.5 Computer simulations
58(2)
4.6 Experiments with a real robot
60(3)
5 Reactive navigation of wheeled robots for border patrolling
63(50)
5.1 Introduction
63(3)
5.2 Boundary following using a minimum distance sensor: System description and problem statement
66(1)
5.3 Main assumptions of theoretical analysis
67(4)
5.4 Navigation for border patrolling based on minimum distance measurements
71(4)
5.5 Computer simulations of border patrolling with a minimum distance sensor
75(3)
5.6 Boundary following with a rigidly mounted distance sensor: Problem setup
78(1)
5.7 Assumptions of theoretical analysis and tuning of the navigation controller
79(4)
5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposed navigation law
83(12)
5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor
95(10)
5.10 Experiments with a real robot
105(8)
6 Safe navigation to a target in unknown cluttered static environments based on border patrolling algorithms
113(12)
6.1 Navigation for target reaching with obstacle avoidance: Problem statement and navigation strategy
114(1)
6.2 Assumptions of theoretical analysis and convergence of the navigation strategy
115(6)
6.3 Computer simulations of navigation with obstacle avoidance
121(4)
7 Algorithm for reactive navigation of nonholonomic robots in maze-like environments
125(36)
7.1 Introduction
125(2)
7.2 Problem setup and navigation strategy
127(2)
7.3 Assumptions of theoretical analysis and tuning the navigation law
129(1)
7.4 Convergence and performance of the navigation law
130(12)
7.5 Simulations and experiments with a real wheeled robot
142(2)
7.6 Appendix: Proofs of Proposition 4.1 and Lemmas 4.6 and 4.7
144(17)
8 Biologically-inspired algorithm for safe navigation of a wheeled robot among moving obstacles
161(24)
8.1 Introduction
161(1)
8.2 Problem description
162(1)
8.3 Navigation algorithm
163(3)
8.4 Mathematical analysis of the navigation strategy
166(2)
8.5 Computer simulations
168(1)
8.6 Experiments with a laboratorial wheeled robot
169(5)
8.7 Algorithm implementation with a robotic wheelchair
174(2)
8.8 Algorithm implementation with a robotic motorized hospital bed
176(9)
9 Reactive navigation among moving and deforming obstacles: Problems of border patrolling and avoiding collisions
185(44)
9.1 Introduction
185(2)
9.2 System description and border patrolling problem
187(1)
9.3 Navigation for border patrolling
188(3)
9.4 Main assumptions
191(7)
9.5 Main results concerning border patrolling problem
198(6)
9.6 Illustrative examples of border patrolling
204(13)
9.7 Navigation in an environment cluttered with moving obstacles
217(3)
9.8 Simulations
220(4)
9.9 Experimental results
224(5)
10 Seeking a path through the crowd: Robot navigation among unknowingly moving obstacles based on an integrated representation of the environment
229(22)
10.1 Introduction
229(2)
10.2 Problem description
231(3)
10.3 Navigation algorithm
234(2)
10.4 Mathematical analysis of the navigation strategy
236(3)
10.5 Computer simulations
239(2)
10.6 Experiments with a real robot
241(10)
11 A globally converging reactive algorithm for robot navigation in scenes densely cluttered with moving and deforming obstacles
251(32)
11.1 Introduction
251(3)
11.2 Problem setup
254(2)
11.3 The navigation algorithm
256(3)
11.4 Collision avoidance
259(3)
11.5 Achieving the main navigation objective
262(7)
11.6 Illustrations of the main results for special scenarios
269(12)
11.7 Simulations
281(2)
12 Safe cooperative navigation of multiple wheeled robots in unknown steady environments with obstacles
283(30)
12.1 Introduction
283(2)
12.2 Problem statement
285(1)
12.3 Proposed navigation system
286(18)
12.4 Simulation results
304(5)
12.5 Experimental results with wheeled robots
309(4)
Bibliography 313(24)
Index 337
Prof. Andrey V. Savkin received M.S. and Ph.D. degrees in mathematics from the Leningrad State University, Saint Petersburg, Russia, in 1987 and 1991, respectively. From 1987 to 1992, he was with the Television Research Institute, Leningrad, Russia. From 1992 to 1994, he held a Postdoctoral position in the Department of Electrical Engineering, Australian Defence Force Academy, Canberra. From 1994 to 1996, he was a Research Fellow in the Department of Electrical and Electronic Engineering and the Cooperative Research Centre for Sensor Signal and Information Processing, University of Melbourne, Australia. From 1996 to 2000, he was a Senior Lecturer, and then an Associate Professor in the Department of Electrical and Electronic Engineering, University of Western Australia, Perth. Since 2000, he has been a Professor in the School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW, Australia. His current research interests include robust control and state estimation, hybrid dynamical systems, guidance, navigation and control of mobile robots, applications of control and signal processing in biomedical engineering and medicine. He has authored and co-authored 5 research monograph (published by Birkhauser and IEEE Press/Wiley) and about 100 journal papers. Almost all Matveev's journal publications are in top international journals, such as Automatica”, International Journal of Control”, IEEE Transactions on Automatic Control”. Prof. Matveev is responsible for many theoretical advances in the areas of optimal control, hybrid systems, networked control systems, and robot navigation.
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