Preface xi
About the Authors xiii
Introduction 1
1 Kinematic Models for Mobile Robots 5
1.1 Introduction 5
1.2 Vehicles with Front-Wheel Steering 5
1.3 Vehicles with Differential-Drive Steering 8
Exercises 11
References 12
2 Mobile Robot Control 13
2.1 Introduction 13
2.2 Front-Wheel Steered Vehicle, Heading Control 13
2.3 Front-Wheel Steered Vehicle, Speed Control 22
2.4 Heading and Speed Control for the Differential-Drive Robot 23
2.5 Reference Trajectory and Incremental Control, Front-Wheel Steered Robot 26
2.6 Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model 31
2.7 Computed Control for Heading and Velocity, Front-Wheel Steered Robot 34
2.8 Heading Control of Differential-Drive Robot Using the Nonlinear Model 36
2.9 Computed Control for Heading and Velocity, Differential-Drive Robot 37
2.10 Steering Control Along a Path Using a Local Coordinate Frame 38
2.11 Optimal Steering of Front-Wheel Steered Vehicle 49
2.12 Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle 67
Exercises 68
References 69
3 Robot Attitude 71
3.1 Introduction 71
3.2 Definition of Yaw, Pitch, and Roll 71
3.3 Rotation Matrix for Yaw 72
3.4 Rotation Matrix for Pitch 74
3.5 Rotation Matrix for Roll 75
3.6 General Rotation Matrix 77
3.7 Homogeneous Transformation 78
3.8 Rotating a Vector 82
Exercises 83
References 84
4 Robot Navigation 85
4.1 Introduction 85
4.2 Coordinate Systems 85
4.3 Earth-Centered Earth-Fixed Coordinate System 85
4.4 Associated Coordinate Systems 88
4.5 Universal Transverse Mercator Coordinate System 91
4.6 Global Positioning System 93
4.7 Computing Receiver Location Using GPS, Numerical Methods 97
4.7.1 Computing Receiver Location Using GPS via Newton’s Method 97
4.7.2 Computing Receiver Location Using GPS via Minimization of a Performance Index 105
4.8 Array of GPS Antennas 111
4.9 Gimbaled Inertial Navigation Systems 114
4.10 Strap-Down Inertial Navigation Systems 118
4.11 Dead Reckoning or Deduced Reckoning 123
4.12 Inclinometer/Compass 125
Exercises 127
References 131
5 Application of Kalman Filtering 133
5.1 Introduction 133
5.2 Estimating a Fixed Quantity Using Batch Processing 133
5.3 Estimating a Fixed Quantity Using Recursive Processing 134
5.4 Estimating the State of a Dynamic System Recursively 139
5.5 Estimating the State of a Nonlinear System via the Extended Kalman Filter 150
Exercises 165
References 169
6 Remote Sensing 171
6.1 Introduction 171
6.2 Camera-Type Sensors 171
6.3 Stereo Vision 181
6.4 Radar Sensing: Synthetic Aperture Radar 185
6.5 Pointing of Range Sensor at Detected Object 190
6.6 Detection Sensor in Scanning Mode 195
Exercises 199
References 200
7 Target Tracking Including Multiple Targets with Multiple Sensors 203
7.1 Introduction 203
7.2 Regions of Confidence for Sensors 203
7.3 Model of Target Location 211
7.4 Inventory of Detected Targets 215
Exercises 220
References 221
8 Obstacle Mapping and Its Application to Robot Navigation 223
8.1 Introduction 223
8.2 Sensors for Obstacle Detection and Geo-Registration 223
8.3 Dead Reckoning Navigation 225
8.4 Use of Previously Detected Obstacles for Navigation 229
8.5 Simultaneous Corrections of Coordinates of Detected Obstacles and of the Robot 233
Exercises 236
References 237
9 Operating a Robotic Manipulator 239
9.1 Introduction 239
9.2 Forward Kinematic Equations 239
9.3 Path Specification in Joint Space 242
9.4 Inverse Kinematic Equations 242
9.5 Path Specification in Cartesian Space 248
9.6 Velocity Relationships 249
9.7 Forces and Torques 255
Exercises 261
References 262
10 Remote Sensing via UAVs 263
10.1 Introduction 263
10.2 Mounting of Sensors 263
10.3 Resolution of Sensors 264
10.4 Precision of Vehicle Instrumentation 264
10.5 Overall Geo-Registration Precision 265
Exercise 267
References 267
11 Dynamics Modeling of AUVs 269
11.1 Introduction 269
11.2 Motivation 269
11.3 Full Dynamic Model 270
11.4 Hydrodynamic Model 273
11.5 Reduced-Order Longitudinal Dynamics 274
11.6 Computation of Steady Gliding Path in the Longitudinal Plane 276
11.7 Scaling Analysis 279
11.8 Spiraling Dynamics 281
11.9 Computation of Spiral Path 286
Exercises 288
References 289
12 Control of AUVs 291
12.1 Introduction 291
12.2 Longitudinal Gliding Stabilization 291
12.2.1 Longitudinal Dynamic Model Reduction 292
12.2.2 Passivity-Based Controller Design 295
12.2.3 Simulation Results 297
12.3 Yaw Angle Regulation 298
12.3.1 Problem Statement 298
12.3.2 Sliding Mode Controller Design 300
12.3.3 Simulation Results 303
12.4 Spiral Path Tracking 307
12.4.1 Steady Spiral and Its Differential Geometric Parameters 307
12.4.2 Two Degree-of-Freedom Control Design 310
12.4.3 Simulation Results 314
Exercises 321
References 322
Appendix A Demonstrations of Undergraduate Student Robotic Projects 323
Index 327
