000			a
999			_c29612 _d29612
008			191004b xxu||||| |||| 00| 0 eng d
020			_a9780470630211
082			_a629.892 _bCOO
100			_aCook, Gerald
245			_aMobile robots : navigation, control and remote sensing
260			_bWiley _c2011 _aOxford
300			_axvi, 307 p. _bill. _c24 cm
365			_b115.95 _cUSD _d8661.47
504			_aIncludes bibliographical references and index.
520			_aA unique, accessible guide on mobile robot applicationsThe use of mobile robots to sense objects of interest plays a vital role in our society, from its value in military maneuvers to the exploration of natural resources to search and rescue operations. Written by an expert in the field, this book is the only resource to explain all the major areas of mobile robot applications-control, navigation, and remote sensing-which are essential to not only detecting desired objects but also providing accurate information on their precise locations. The material can be readily applied to any type of ground vehicle.In the controls area, both linear and nonlinear models of robot steering are presented. Through these applications, the reader is introduced to linearization and use of linear control design methods for control about a reference trajectory; use of Lyapunov stability theory for nonlinear control design; derivation of optimal control strategies via Pontryagin's maximum principle; and derivation of a local coordinate system. In navigation, the global positioning system (GPS) is described in detail, as are inertial navigation systems (INS), which are treated in terms of their ability to provide vehicle position as well as altitude. In remote sensing methods, the author addresses the problem of ground registration of detected objects of interest, which provides essential information for any future actions (such as inspection or retrieval).The book covers control of a robotic manipulator as well as airborne sensing and detection of objects on the ground. It also explains the use of optimal processing via the Kalman Filter when there are multiple detections of the same object, and the decision process of associating detections with the proper objects when tracking multiple objects.
650			_aTechnology and engineering
650			_aMobile robots remote sensing
650			_aNavigate
650			_aAutomation
650			_aRobots
942			_2ddc _cBK