Preface xiAbout the Authors xiiiIntroduction 11 Kinematic Models for Mobile Robots 51.1 Introduction 51.2 Vehicles with Front-Wheel Steering 51.3 Vehicles with Differential-Drive Steering 8Exercises 11References 122 Mobile Robot Control 132.1 Introduction 132.2 Front-Wheel Steered Vehicle, Heading Control 132.3 Front-Wheel Steered Vehicle, Speed Control 222.4 Heading and Speed Control for the Differential-Drive Robot 232.5 Reference Trajectory and Incremental Control, Front-Wheel Steered Robot 262.6 Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model 312.7 Computed Control for Heading and Velocity, Front-Wheel Steered Robot 342.8 Heading Control of Differential-Drive Robot Using the Nonlinear Model 362.9 Computed Control for Heading and Velocity, Differential-Drive Robot 372.10 Steering Control Along a Path Using a Local Coordinate Frame 382.11 Optimal Steering of Front-Wheel Steered Vehicle 492.12 Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle 67Exercises 68References 693 Robot Attitude 713.1 Introduction 713.2 Definition of Yaw, Pitch, and Roll 713.3 Rotation Matrix for Yaw 723.4 Rotation Matrix for Pitch 743.5 Rotation Matrix for Roll 753.6 General Rotation Matrix 773.7 Homogeneous Transformation 783.8 Rotating a Vector 82Exercises 83References 844 Robot Navigation 854.1 Introduction 854.2 Coordinate Systems 854.3 Earth-Centered Earth-Fixed Coordinate System 854.4 Associated Coordinate Systems 884.5 Universal Transverse Mercator Coordinate System 914.6 Global Positioning System 934.7 Computing Receiver Location Using GPS, Numerical Methods 974.7.1 Computing Receiver Location Using GPS via Newton's Method 974.7.2 Computing Receiver Location Using GPS via Minimization of a Performance Index 1054.8 Array of GPS Antennas 1114.9 Gimbaled Inertial Navigation Systems 1144.10 Strap-Down Inertial Navigation Systems 1184.11 Dead Reckoning or Deduced Reckoning 1234.12 Inclinometer/Compass 125Exercises 127References 1315 Application of Kalman Filtering 1335.1 Introduction 1335.2 Estimating a Fixed Quantity Using Batch Processing 1335.3 Estimating a Fixed Quantity Using Recursive Processing 1345.4 Estimating the State of a Dynamic System Recursively 1395.5 Estimating the State of a Nonlinear System via the Extended Kalman Filter 150Exercises 165References 1696 Remote Sensing 1716.1 Introduction 1716.2 Camera-Type Sensors 1716.3 Stereo Vision 1816.4 Radar Sensing: Synthetic Aperture Radar 1856.5 Pointing of Range Sensor at Detected Object 1906.6 Detection Sensor in Scanning Mode 195Exercises 199References 2007 Target Tracking Including Multiple Targets with Multiple Sensors 2037.1 Introduction 2037.2 Regions of Confidence for Sensors 2037.3 Model of Target Location 2117.4 Inventory of Detected Targets 215Exercises 220References 2218 Obstacle Mapping and Its Application to Robot Navigation 2238.1 Introduction 2238.2 Sensors for Obstacle Detection and Geo-Registration 2238.3 Dead Reckoning Navigation 2258.4 Use of Previously Detected Obstacles for Navigation 2298.5 Simultaneous Corrections of Coordinates of Detected Obstacles and of the Robot 233Exercises 236References 2379 Operating a Robotic Manipulator 2399.1 Introduction 2399.2 Forward Kinematic Equations 2399.3 Path Specification in Joint Space 2429.4 Inverse Kinematic Equations 2429.5 Path Specification in Cartesian Space 2489.6 Velocity Relationships 2499.7 Forces and Torques 255Exercises 261References 26210 Remote Sensing via UAVs 26310.1 Introduction 26310.2 Mounting of Sensors 26310.3 Resolution of Sensors 26410.4 Precision of Vehicle Instrumentation 26410.5 Overall Geo-Registration Precision 265Exercise 267References 26711 Dynamics Modeling of AUVs 26911.1 Introduction 26911.2 Motivation 26911.3 Full Dynamic Model 27011.4 Hydrodynamic Model 27311.5 Reduced-Order Longitudinal Dynamics 27411.6 Computation of Steady Gliding Path in the Longitudinal Plane 27611.7 Scaling Analysis 27911.8 Spiraling Dynamics 28111.9 Computation of Spiral Path 286Exercises 288References 28912 Control of AUVs 29112.1 Introduction 29112.2 Longitudinal Gliding Stabilization 29112.2.1 Longitudinal Dynamic Model Reduction 29212.2.2 Passivity-Based Controller Design 29512.2.3 Simulation Results 29712.3 Yaw Angle Regulation 29812.3.1 Problem Statement 29812.3.2 Sliding Mode Controller Design 30012.3.3 Simulation Results 30312.4 Spiral Path Tracking 30712.4.1 Steady Spiral and Its Differential Geometric Parameters 30712.4.2 Two Degree-of-Freedom Control Design 31012.4.3 Simulation Results 314Exercises 321References 322Appendix A Demonstrations of Undergraduate Student Robotic Projects 323Index 327
GERALD COOK, ScD, is the Earle C. Williams Professor Emeritus of Electrical Engineering and past chairman of Electrical and Computer Engineering at George Mason University. He was previously Chairman of Electrical and Biomedical Engineering at Vanderbilt University and before that, Professor of Electrical Engineering at the University of Virginia. He is a Life Fellow of the Institute of Electrical and Electronics Engineers (IEEE), a former president of the IEEE Industrial Electronics Society and a former Editor-in-Chief of the IEEE Transactions on Industrial Electronics.FEITIAN ZHANG, PHD, is an Assistant Professor in the Electrical & Computer Engineering Department at George Mason University. He was awarded the GMU Multidisciplinary Research Awards in 2017 and the Office of Naval Research (ONR) Summer Faculty Fellowship in 2019. He is a member of the Institute of Electrical and Electronic Engineers (IEEE) and American Society of Mechanical Engineers (ASME).