Mobile robotics for multidisciplinary study
By: Berry, Carlotta A.
Material type:
BookSeries: Synthesis digital library of engineering and computer science: ; Synthesis lectures on control and mechatronics: # 4.Publisher: San Rafael, Calif. (1537 Fourth Street, San Rafael, CA 94901 USA) : Morgan & Claypool, c2012Description: 1 electronic text (xi, 83 p.) : ill., digital file.ISBN: 9781608457991 (electronic bk.).Subject(s): Mobile robots | Robotics | mobile robotics | artificial intelligence | control architectures | behaviors | navigation | localization | mappingDDC classification: 629.892 Online resources: Abstract with links to resource Also available in print.| Item type | Current location | Call number | Status | Date due | Barcode | Item holds |
|---|---|---|---|---|---|---|
E books
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PK Kelkar Library, IIT Kanpur | Available | EBKE406 |
Mode of access: World Wide Web.
System requirements: Adobe Acrobat Reader.
Part of: Synthesis digital library of engineering and computer science.
Series from website.
Includes bibliographical references (p. 81-82).
1. Introduction -- 1.1 Motivation -- 1.2 Robotics foundations -- 1.3 Definition of a robot -- 1.4 Review questions -- 1.5 Exercises --
2. Hardware -- 2.1 Robot parts -- 2.1.1 Controllers -- 2.1.2 Sensors -- 2.1.3 Effectors and actuators -- 2.2 Locomotion -- 2.3 Kinematics -- 2.3.1 Wheeled mobile robot classifications -- 2.3.2 Forward kinematics -- 2.3.3 Inverse kinematics -- 2.4 Review questions -- 2.5 Exercises --
3. Control -- 3.1 Feedback control -- 3.1.1 Proportional control -- 3.1.2 Proportional-derivative control -- 3.1.3 PID control -- 3.1.4 Ziegler-Nichols method -- 3.2 Representation -- 3.3 Control architectures -- 3.3.1 Deliberative -- 3.3.2 Reactive -- 3.3.3 Hybrid -- 3.4 Behavior-based control -- 3.5 Review questions -- 3.6 Exercises --
4. Software -- 4.1 Navigation -- 4.1.1 Topological navigation -- 4.1.2 Metric navigation -- 4.1.3 Obstacle avoidance -- 4.2 Localization -- 4.3 Mapping -- 4.4 Simultaneous localization and mapping -- 4.5 Review questions -- 4.6 Exercises --
Bibliography -- Author's biography.
Abstract freely available; full-text restricted to subscribers or individual document purchasers.
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This lecture series provides an introduction to the field of mobile robotics and the intersection between multiple robotics-related disciplines including electrical, mechanical, computer, software engineering and computer science. It is intended for an upper-level undergraduate or first-year graduate students interested in mobile robotics and artificial intelligence with some experience in object-oriented programming and controls. Focus areas will include robotics history, hardware, control and software. Specific topics include robot components, effectors and actuators, locomotion, kinematics, sensors, feedback control, control architectures, representation, navigation, localization and mapping. The end of each chapter includes review questions as well as exercises to provide applications for the concepts as well as opportunities for further study.
Also available in print.
Title from PDF t.p. (viewed on April 22, 2012).
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