Kooperativer Bibliotheksverbund

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Edition: 1st ed.

ISBN: 0-12-803757-1

Note: Description based upon print version of record. , Front Cover -- Safe Robot Navigation Among Moving and Steady Obstacles -- Copyright -- Contents -- Preface -- Abbreviations -- Frequently used notations -- Chapter 1: Introduction -- 1.1 Collision-free navigation of wheeled robots among moving and steady obstacles -- 1.2 Overview and organization of the book -- 1.3 Sliding mode control -- 1.4 Experimental equipment -- 1.4.1 Laboratorial wheeled robot Pioneer P3-DX -- 1.4.2 Intelligent autonomous wheelchair system -- 1.4.3 Autonomous hospital bed system -- Chapter 2: Fundamentals of sliding mode control -- 2.1 Introduction -- 2.2 Sliding motion -- 2.3 Filippov solutions -- Chapter 3: Survey of algorithms for safe navigation of mobile robots in complex environments -- 3.1 Introduction -- 3.1.1 Exclusions -- 3.2 Problem considerations -- 3.2.1 Environment -- 3.2.2 Kinematics of mobile robots -- 3.2.3 Sensor data -- 3.2.4 Optimality criteria -- 3.2.5 Biological inspiration -- 3.2.6 Implementation examples -- 3.2.7 Summary of the methods reviewed -- 3.3 Model predictive control -- 3.3.1 Robust MPC -- 3.3.2 Nonlinear MPC -- 3.3.3 Planning algorithms -- 3.4 Sensor-based techniques -- 3.4.1 Obstacle avoidance via boundary following -- 3.4.1.1 Distance based -- 3.4.1.2 Sliding mode control -- 3.4.1.3 Bug algorithms -- 3.4.1.4 Full information based -- 3.4.2 Sensor-based path planning -- 3.4.3 Other reactive methods -- 3.4.3.1 Artificial potential field methods -- 3.4.3.2 Uncategorized approaches -- 3.5 Moving obstacles -- 3.5.1 Human-like obstacles -- 3.5.2 Known obstacles -- 3.5.3 Kinematically constrained obstacles -- 3.5.3.1 Path-based methods -- 3.5.3.2 Reactive methods -- 3.6 Multiple robot navigation -- 3.6.1 Communication types -- 3.6.2 Reactive methods -- 3.6.2.1 Potential field methods -- 3.6.2.2 Reciprocal collision avoidance methods -- 3.6.2.3 Hybrid logic approaches -- 3.6.3 Decentralized MPC. , Chapter 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles -- 4.1 Introduction -- 4.2 System description and main assumptions -- 4.3 Off-line shortest path planning -- 4.4 On-line navigation -- 4.5 Computer simulations -- 4.6 Experiments with a real robot -- Chapter 5: Reactive navigation of wheeled robots for border patrolling -- 5.1 Introduction -- 5.2 Boundary following using a minimum distance sensor: System description and problem statement -- 5.3 Main assumptions of theoretical analysis -- 5.4 Navigation for border patrolling based on minimum distance measurements -- 5.4.1 Proof of Theorem 4.1 -- 5.5 Computer simulations of border patrolling with a minimum distance sensor -- 5.6 Boundary following with a rigidly mounted distance sensor: Problem setup -- 5.7 Assumptions of theoretical analysis and tuningof the navigation controller -- 5.7.1 Tuning of the navigation controller -- 5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposednavigation law -- 5.8.1 Illustrative analysis of the convergence domain -- 5.8.2 Proofs of Theorem 8.1 and Lemmas 8.1 and 8.2 -- 5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor -- 5.10 Experiments with a real robot -- Chapter 6: Safe navigation to a target in unknown cluttered static environments -- 6.1 Navigation for target reaching with obstacle avoidance: Problem statement and navigation strategy -- 6.2 Assumptions of theoretical analysis and convergence of the navigation strategy -- 6.2.1 Proof of Theorem 2.1 -- 6.3 Computer simulations of navigation with obstacle avoidance -- Chapter 7: Algorithm for reactive navigation of nonholonomic robots in maze-like environments -- 7.1 Introduction -- 7.2 Problem setup and navigation strategy -- 7.3 Assumptions of theoretical analysis and tuning the navigation law. , 7.4 Convergence and performance of the navigation law -- 7.4.1 Proof of Proposition 4.2 and Remark 4.2 -- 7.4.2 Proof of Theorem 4.1 -- 7.5 Simulations and experiments with a real wheeled robot -- 7.A Appendix: Proofs of Proposition 4.1 and Lemmas 4.6 and 4.7 -- 7.A.1 Technical facts and the proof of Lemma 4.7 -- 7.A.2 Auxiliary deterministic algorithm -- 7.A.3 Symbolic path and its properties -- 7.A.4 Proof of Proposition A.1 -- 7.A.5 Proof of Proposition 4.1 -- 7.A.6 Proof of Lemma 4.6 -- Chapter 8: Biologically-inspired algorithm for safe navigation of a wheeled robot among moving obstacles -- 8.1 Introduction -- 8.2 Problem description -- 8.3 Navigation algorithm -- 8.4 Mathematical analysis of the navigation strategy -- 8.4.1 Proof of Theorem 4.1 -- 8.5 Computer simulations -- 8.6 Experiments with a laboratorial wheeled robot -- 8.7 Algorithm implementation with a robotic wheelchair -- 8.7.1 Experimental results with an intelligent autonomous wheelchair -- 8.8 Algorithm implementation with a robotic motorized hospital bed -- 8.8.1 Experimental results with Flexbed -- Chapter 9: Reactive navigation among moving and deforming obstacles: Problems of border patrolling and avoiding collisions -- 9.1 Introduction -- 9.2 System description and border patrolling problem -- 9.3 Navigation for border patrolling -- 9.4 Main assumptions -- 9.4.1 Proof of Proposition 4.1 -- 9.5 Main results concerning border patrolling problem -- 9.5.1 Proofs of Theorem 5.1, Lemma 5.1, and Remarks 5.2 and 5.3 -- 9.6 Illustrative examples of border patrolling -- 9.6.1 Steady rigid body -- 9.6.2 Rigid body moving with a constant speed V in a priori unknown and fixed direction -- 9.6.3 Translational motion of a rigid body -- 9.6.4 Escorting a convoy of unicycle-like vehicles -- 9.6.5 Escorting a bulky cigar-shaped vehicle. , 9.7 Navigation in an environment cluttered with moving obstacles -- 9.8 Simulations -- 9.9 Experimental results -- Chapter 10: Seeking a path through the crowd: Robot navigation among unknowingly moving obstacles based on an integrated repres -- 10.1 Introduction -- 10.2 Problem description -- 10.3 Navigation algorithm -- 10.4 Mathematical analysis of the navigation strategy -- 10.4.1 Proof of Theorem 4.1 -- 10.5 Computer simulations -- 10.6 Experiments with a real robot -- Chapter 11: A globally converging reactive algorithm for robot navigation in scenes densely cluttered with moving and deforming -- 11.1 Introduction -- 11.2 Problem setup -- 11.3 The navigation algorithm -- 11.4 Collision avoidance -- 11.5 Achieving the main navigation objective -- 11.5.1 Counterexample -- 11.5.2 Main results -- 11.5.3 Proof of Theorem 5.1 -- 11.6 Illustrations of the main results for special scenarios -- 11.6.1 Disk-shaped obstacles -- 11.6.1.1 Irregularly and unpredictably moving disk-shaped obstacles with a common speed bound -- 11.6.1.2 Motion along a corridor obstructed with irregularly and unpredictably moving disk-shaped obstacles -- 11.6.2 Thin cigar-shaped obstacles -- 11.6.2.1 Steady-size segments irregularly and unpredictably moving so that they remain perpendicular to the desired direction f -- 11.6.3 Navigation in the field of rotating segments -- 11.7 Simulations -- Chapter 12: Safe cooperative navigation of multiple wheeled robots in unknown steady environments with obstacles -- 12.1 Introduction -- 12.2 Problem statement -- 12.3 Proposed navigation system -- 12.3.1 Architecture of navigation system -- 12.3.2 Enhanced safety margins adopted by TPM -- 12.3.3 Trajectory planning module -- 12.3.3.1 Generation of planned trajectories (Step S.1) -- 12.3.3.2 Refinement of the planned trajectories (Step S.2). , 12.3.3.3 Selection of the probational trajectory -- 12.3.3.4 Entire operation of the trajectory planning module -- 12.3.4 Trajectory tracking module -- 12.3.4.1 Path tracking module -- 12.3.4.2 Longitudinal tracking module -- 12.3.5 Collision avoidance -- 12.3.6 Concluding remarks -- 12.4 Simulation results -- 12.5 Experimental results with wheeled robots -- Bibliography -- Index -- Back Cover. , English

Additional Edition: ISBN 0-12-803730-X

Language: English

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Format: 1 Online-Ressource (344 Seiten) , Illustrationen, Diagramme

ISBN: 9780128037577 , 0128037571

Note: Includes bibliographical references and index , 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

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-0-12-803730-0

Language: English

Subjects: Engineering

Keywords: Navigation ; Roboter ; Mobiler Roboter ; Navigation

URL: Volltext  (URL des Erstveröffentlichers)

Author information: Matveev, Aleksej S.

Author information: Savkin, Andrey V. 1965-

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Format: 1 online resource (360 pages) : , illustrations

ISBN: 9780128037577 (e-book)

Additional Edition: Print version: Safe robot navigation among moving and steady obstacles. Amsterdam, [Netherlands] : Butterworth-Heinemann, c2016 ISBN 9780128037300

Language: English

Keywords: Electronic books.

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UID:

Format: 1 online resource (0 p.)

Edition: 1st ed.

ISBN: 0-12-803757-1

Note: Description based upon print version of record. , Front Cover -- Safe Robot Navigation Among Moving and Steady Obstacles -- Copyright -- Contents -- Preface -- Abbreviations -- Frequently used notations -- Chapter 1: Introduction -- 1.1 Collision-free navigation of wheeled robots among moving and steady obstacles -- 1.2 Overview and organization of the book -- 1.3 Sliding mode control -- 1.4 Experimental equipment -- 1.4.1 Laboratorial wheeled robot Pioneer P3-DX -- 1.4.2 Intelligent autonomous wheelchair system -- 1.4.3 Autonomous hospital bed system -- Chapter 2: Fundamentals of sliding mode control -- 2.1 Introduction -- 2.2 Sliding motion -- 2.3 Filippov solutions -- Chapter 3: Survey of algorithms for safe navigation of mobile robots in complex environments -- 3.1 Introduction -- 3.1.1 Exclusions -- 3.2 Problem considerations -- 3.2.1 Environment -- 3.2.2 Kinematics of mobile robots -- 3.2.3 Sensor data -- 3.2.4 Optimality criteria -- 3.2.5 Biological inspiration -- 3.2.6 Implementation examples -- 3.2.7 Summary of the methods reviewed -- 3.3 Model predictive control -- 3.3.1 Robust MPC -- 3.3.2 Nonlinear MPC -- 3.3.3 Planning algorithms -- 3.4 Sensor-based techniques -- 3.4.1 Obstacle avoidance via boundary following -- 3.4.1.1 Distance based -- 3.4.1.2 Sliding mode control -- 3.4.1.3 Bug algorithms -- 3.4.1.4 Full information based -- 3.4.2 Sensor-based path planning -- 3.4.3 Other reactive methods -- 3.4.3.1 Artificial potential field methods -- 3.4.3.2 Uncategorized approaches -- 3.5 Moving obstacles -- 3.5.1 Human-like obstacles -- 3.5.2 Known obstacles -- 3.5.3 Kinematically constrained obstacles -- 3.5.3.1 Path-based methods -- 3.5.3.2 Reactive methods -- 3.6 Multiple robot navigation -- 3.6.1 Communication types -- 3.6.2 Reactive methods -- 3.6.2.1 Potential field methods -- 3.6.2.2 Reciprocal collision avoidance methods -- 3.6.2.3 Hybrid logic approaches -- 3.6.3 Decentralized MPC. , Chapter 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles -- 4.1 Introduction -- 4.2 System description and main assumptions -- 4.3 Off-line shortest path planning -- 4.4 On-line navigation -- 4.5 Computer simulations -- 4.6 Experiments with a real robot -- Chapter 5: Reactive navigation of wheeled robots for border patrolling -- 5.1 Introduction -- 5.2 Boundary following using a minimum distance sensor: System description and problem statement -- 5.3 Main assumptions of theoretical analysis -- 5.4 Navigation for border patrolling based on minimum distance measurements -- 5.4.1 Proof of Theorem 4.1 -- 5.5 Computer simulations of border patrolling with a minimum distance sensor -- 5.6 Boundary following with a rigidly mounted distance sensor: Problem setup -- 5.7 Assumptions of theoretical analysis and tuningof the navigation controller -- 5.7.1 Tuning of the navigation controller -- 5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposednavigation law -- 5.8.1 Illustrative analysis of the convergence domain -- 5.8.2 Proofs of Theorem 8.1 and Lemmas 8.1 and 8.2 -- 5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor -- 5.10 Experiments with a real robot -- Chapter 6: Safe navigation to a target in unknown cluttered static environments -- 6.1 Navigation for target reaching with obstacle avoidance: Problem statement and navigation strategy -- 6.2 Assumptions of theoretical analysis and convergence of the navigation strategy -- 6.2.1 Proof of Theorem 2.1 -- 6.3 Computer simulations of navigation with obstacle avoidance -- Chapter 7: Algorithm for reactive navigation of nonholonomic robots in maze-like environments -- 7.1 Introduction -- 7.2 Problem setup and navigation strategy -- 7.3 Assumptions of theoretical analysis and tuning the navigation law. , 7.4 Convergence and performance of the navigation law -- 7.4.1 Proof of Proposition 4.2 and Remark 4.2 -- 7.4.2 Proof of Theorem 4.1 -- 7.5 Simulations and experiments with a real wheeled robot -- 7.A Appendix: Proofs of Proposition 4.1 and Lemmas 4.6 and 4.7 -- 7.A.1 Technical facts and the proof of Lemma 4.7 -- 7.A.2 Auxiliary deterministic algorithm -- 7.A.3 Symbolic path and its properties -- 7.A.4 Proof of Proposition A.1 -- 7.A.5 Proof of Proposition 4.1 -- 7.A.6 Proof of Lemma 4.6 -- Chapter 8: Biologically-inspired algorithm for safe navigation of a wheeled robot among moving obstacles -- 8.1 Introduction -- 8.2 Problem description -- 8.3 Navigation algorithm -- 8.4 Mathematical analysis of the navigation strategy -- 8.4.1 Proof of Theorem 4.1 -- 8.5 Computer simulations -- 8.6 Experiments with a laboratorial wheeled robot -- 8.7 Algorithm implementation with a robotic wheelchair -- 8.7.1 Experimental results with an intelligent autonomous wheelchair -- 8.8 Algorithm implementation with a robotic motorized hospital bed -- 8.8.1 Experimental results with Flexbed -- Chapter 9: Reactive navigation among moving and deforming obstacles: Problems of border patrolling and avoiding collisions -- 9.1 Introduction -- 9.2 System description and border patrolling problem -- 9.3 Navigation for border patrolling -- 9.4 Main assumptions -- 9.4.1 Proof of Proposition 4.1 -- 9.5 Main results concerning border patrolling problem -- 9.5.1 Proofs of Theorem 5.1, Lemma 5.1, and Remarks 5.2 and 5.3 -- 9.6 Illustrative examples of border patrolling -- 9.6.1 Steady rigid body -- 9.6.2 Rigid body moving with a constant speed V in a priori unknown and fixed direction -- 9.6.3 Translational motion of a rigid body -- 9.6.4 Escorting a convoy of unicycle-like vehicles -- 9.6.5 Escorting a bulky cigar-shaped vehicle. , 9.7 Navigation in an environment cluttered with moving obstacles -- 9.8 Simulations -- 9.9 Experimental results -- Chapter 10: Seeking a path through the crowd: Robot navigation among unknowingly moving obstacles based on an integrated repres -- 10.1 Introduction -- 10.2 Problem description -- 10.3 Navigation algorithm -- 10.4 Mathematical analysis of the navigation strategy -- 10.4.1 Proof of Theorem 4.1 -- 10.5 Computer simulations -- 10.6 Experiments with a real robot -- Chapter 11: A globally converging reactive algorithm for robot navigation in scenes densely cluttered with moving and deforming -- 11.1 Introduction -- 11.2 Problem setup -- 11.3 The navigation algorithm -- 11.4 Collision avoidance -- 11.5 Achieving the main navigation objective -- 11.5.1 Counterexample -- 11.5.2 Main results -- 11.5.3 Proof of Theorem 5.1 -- 11.6 Illustrations of the main results for special scenarios -- 11.6.1 Disk-shaped obstacles -- 11.6.1.1 Irregularly and unpredictably moving disk-shaped obstacles with a common speed bound -- 11.6.1.2 Motion along a corridor obstructed with irregularly and unpredictably moving disk-shaped obstacles -- 11.6.2 Thin cigar-shaped obstacles -- 11.6.2.1 Steady-size segments irregularly and unpredictably moving so that they remain perpendicular to the desired direction f -- 11.6.3 Navigation in the field of rotating segments -- 11.7 Simulations -- Chapter 12: Safe cooperative navigation of multiple wheeled robots in unknown steady environments with obstacles -- 12.1 Introduction -- 12.2 Problem statement -- 12.3 Proposed navigation system -- 12.3.1 Architecture of navigation system -- 12.3.2 Enhanced safety margins adopted by TPM -- 12.3.3 Trajectory planning module -- 12.3.3.1 Generation of planned trajectories (Step S.1) -- 12.3.3.2 Refinement of the planned trajectories (Step S.2). , 12.3.3.3 Selection of the probational trajectory -- 12.3.3.4 Entire operation of the trajectory planning module -- 12.3.4 Trajectory tracking module -- 12.3.4.1 Path tracking module -- 12.3.4.2 Longitudinal tracking module -- 12.3.5 Collision avoidance -- 12.3.6 Concluding remarks -- 12.4 Simulation results -- 12.5 Experimental results with wheeled robots -- Bibliography -- Index -- Back Cover. , English

Additional Edition: ISBN 0-12-803730-X

Language: English

UID:

Format: 1 online resource (0 p.)

Edition: 1st ed.

ISBN: 0-12-803757-1

Note: Description based upon print version of record. , Front Cover -- Safe Robot Navigation Among Moving and Steady Obstacles -- Copyright -- Contents -- Preface -- Abbreviations -- Frequently used notations -- Chapter 1: Introduction -- 1.1 Collision-free navigation of wheeled robots among moving and steady obstacles -- 1.2 Overview and organization of the book -- 1.3 Sliding mode control -- 1.4 Experimental equipment -- 1.4.1 Laboratorial wheeled robot Pioneer P3-DX -- 1.4.2 Intelligent autonomous wheelchair system -- 1.4.3 Autonomous hospital bed system -- Chapter 2: Fundamentals of sliding mode control -- 2.1 Introduction -- 2.2 Sliding motion -- 2.3 Filippov solutions -- Chapter 3: Survey of algorithms for safe navigation of mobile robots in complex environments -- 3.1 Introduction -- 3.1.1 Exclusions -- 3.2 Problem considerations -- 3.2.1 Environment -- 3.2.2 Kinematics of mobile robots -- 3.2.3 Sensor data -- 3.2.4 Optimality criteria -- 3.2.5 Biological inspiration -- 3.2.6 Implementation examples -- 3.2.7 Summary of the methods reviewed -- 3.3 Model predictive control -- 3.3.1 Robust MPC -- 3.3.2 Nonlinear MPC -- 3.3.3 Planning algorithms -- 3.4 Sensor-based techniques -- 3.4.1 Obstacle avoidance via boundary following -- 3.4.1.1 Distance based -- 3.4.1.2 Sliding mode control -- 3.4.1.3 Bug algorithms -- 3.4.1.4 Full information based -- 3.4.2 Sensor-based path planning -- 3.4.3 Other reactive methods -- 3.4.3.1 Artificial potential field methods -- 3.4.3.2 Uncategorized approaches -- 3.5 Moving obstacles -- 3.5.1 Human-like obstacles -- 3.5.2 Known obstacles -- 3.5.3 Kinematically constrained obstacles -- 3.5.3.1 Path-based methods -- 3.5.3.2 Reactive methods -- 3.6 Multiple robot navigation -- 3.6.1 Communication types -- 3.6.2 Reactive methods -- 3.6.2.1 Potential field methods -- 3.6.2.2 Reciprocal collision avoidance methods -- 3.6.2.3 Hybrid logic approaches -- 3.6.3 Decentralized MPC. , Chapter 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles -- 4.1 Introduction -- 4.2 System description and main assumptions -- 4.3 Off-line shortest path planning -- 4.4 On-line navigation -- 4.5 Computer simulations -- 4.6 Experiments with a real robot -- Chapter 5: Reactive navigation of wheeled robots for border patrolling -- 5.1 Introduction -- 5.2 Boundary following using a minimum distance sensor: System description and problem statement -- 5.3 Main assumptions of theoretical analysis -- 5.4 Navigation for border patrolling based on minimum distance measurements -- 5.4.1 Proof of Theorem 4.1 -- 5.5 Computer simulations of border patrolling with a minimum distance sensor -- 5.6 Boundary following with a rigidly mounted distance sensor: Problem setup -- 5.7 Assumptions of theoretical analysis and tuningof the navigation controller -- 5.7.1 Tuning of the navigation controller -- 5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposednavigation law -- 5.8.1 Illustrative analysis of the convergence domain -- 5.8.2 Proofs of Theorem 8.1 and Lemmas 8.1 and 8.2 -- 5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor -- 5.10 Experiments with a real robot -- Chapter 6: Safe navigation to a target in unknown cluttered static environments -- 6.1 Navigation for target reaching with obstacle avoidance: Problem statement and navigation strategy -- 6.2 Assumptions of theoretical analysis and convergence of the navigation strategy -- 6.2.1 Proof of Theorem 2.1 -- 6.3 Computer simulations of navigation with obstacle avoidance -- Chapter 7: Algorithm for reactive navigation of nonholonomic robots in maze-like environments -- 7.1 Introduction -- 7.2 Problem setup and navigation strategy -- 7.3 Assumptions of theoretical analysis and tuning the navigation law. , 7.4 Convergence and performance of the navigation law -- 7.4.1 Proof of Proposition 4.2 and Remark 4.2 -- 7.4.2 Proof of Theorem 4.1 -- 7.5 Simulations and experiments with a real wheeled robot -- 7.A Appendix: Proofs of Proposition 4.1 and Lemmas 4.6 and 4.7 -- 7.A.1 Technical facts and the proof of Lemma 4.7 -- 7.A.2 Auxiliary deterministic algorithm -- 7.A.3 Symbolic path and its properties -- 7.A.4 Proof of Proposition A.1 -- 7.A.5 Proof of Proposition 4.1 -- 7.A.6 Proof of Lemma 4.6 -- Chapter 8: Biologically-inspired algorithm for safe navigation of a wheeled robot among moving obstacles -- 8.1 Introduction -- 8.2 Problem description -- 8.3 Navigation algorithm -- 8.4 Mathematical analysis of the navigation strategy -- 8.4.1 Proof of Theorem 4.1 -- 8.5 Computer simulations -- 8.6 Experiments with a laboratorial wheeled robot -- 8.7 Algorithm implementation with a robotic wheelchair -- 8.7.1 Experimental results with an intelligent autonomous wheelchair -- 8.8 Algorithm implementation with a robotic motorized hospital bed -- 8.8.1 Experimental results with Flexbed -- Chapter 9: Reactive navigation among moving and deforming obstacles: Problems of border patrolling and avoiding collisions -- 9.1 Introduction -- 9.2 System description and border patrolling problem -- 9.3 Navigation for border patrolling -- 9.4 Main assumptions -- 9.4.1 Proof of Proposition 4.1 -- 9.5 Main results concerning border patrolling problem -- 9.5.1 Proofs of Theorem 5.1, Lemma 5.1, and Remarks 5.2 and 5.3 -- 9.6 Illustrative examples of border patrolling -- 9.6.1 Steady rigid body -- 9.6.2 Rigid body moving with a constant speed V in a priori unknown and fixed direction -- 9.6.3 Translational motion of a rigid body -- 9.6.4 Escorting a convoy of unicycle-like vehicles -- 9.6.5 Escorting a bulky cigar-shaped vehicle. , 9.7 Navigation in an environment cluttered with moving obstacles -- 9.8 Simulations -- 9.9 Experimental results -- Chapter 10: Seeking a path through the crowd: Robot navigation among unknowingly moving obstacles based on an integrated repres -- 10.1 Introduction -- 10.2 Problem description -- 10.3 Navigation algorithm -- 10.4 Mathematical analysis of the navigation strategy -- 10.4.1 Proof of Theorem 4.1 -- 10.5 Computer simulations -- 10.6 Experiments with a real robot -- Chapter 11: A globally converging reactive algorithm for robot navigation in scenes densely cluttered with moving and deforming -- 11.1 Introduction -- 11.2 Problem setup -- 11.3 The navigation algorithm -- 11.4 Collision avoidance -- 11.5 Achieving the main navigation objective -- 11.5.1 Counterexample -- 11.5.2 Main results -- 11.5.3 Proof of Theorem 5.1 -- 11.6 Illustrations of the main results for special scenarios -- 11.6.1 Disk-shaped obstacles -- 11.6.1.1 Irregularly and unpredictably moving disk-shaped obstacles with a common speed bound -- 11.6.1.2 Motion along a corridor obstructed with irregularly and unpredictably moving disk-shaped obstacles -- 11.6.2 Thin cigar-shaped obstacles -- 11.6.2.1 Steady-size segments irregularly and unpredictably moving so that they remain perpendicular to the desired direction f -- 11.6.3 Navigation in the field of rotating segments -- 11.7 Simulations -- Chapter 12: Safe cooperative navigation of multiple wheeled robots in unknown steady environments with obstacles -- 12.1 Introduction -- 12.2 Problem statement -- 12.3 Proposed navigation system -- 12.3.1 Architecture of navigation system -- 12.3.2 Enhanced safety margins adopted by TPM -- 12.3.3 Trajectory planning module -- 12.3.3.1 Generation of planned trajectories (Step S.1) -- 12.3.3.2 Refinement of the planned trajectories (Step S.2). , 12.3.3.3 Selection of the probational trajectory -- 12.3.3.4 Entire operation of the trajectory planning module -- 12.3.4 Trajectory tracking module -- 12.3.4.1 Path tracking module -- 12.3.4.2 Longitudinal tracking module -- 12.3.5 Collision avoidance -- 12.3.6 Concluding remarks -- 12.4 Simulation results -- 12.5 Experimental results with wheeled robots -- Bibliography -- Index -- Back Cover. , English

Additional Edition: ISBN 0-12-803730-X

Language: English

UID:

Format: 1 online resource (0 p.)

Edition: 1st ed.

ISBN: 0-12-803757-1

Note: Description based upon print version of record. , Front Cover -- Safe Robot Navigation Among Moving and Steady Obstacles -- Copyright -- Contents -- Preface -- Abbreviations -- Frequently used notations -- Chapter 1: Introduction -- 1.1 Collision-free navigation of wheeled robots among moving and steady obstacles -- 1.2 Overview and organization of the book -- 1.3 Sliding mode control -- 1.4 Experimental equipment -- 1.4.1 Laboratorial wheeled robot Pioneer P3-DX -- 1.4.2 Intelligent autonomous wheelchair system -- 1.4.3 Autonomous hospital bed system -- Chapter 2: Fundamentals of sliding mode control -- 2.1 Introduction -- 2.2 Sliding motion -- 2.3 Filippov solutions -- Chapter 3: Survey of algorithms for safe navigation of mobile robots in complex environments -- 3.1 Introduction -- 3.1.1 Exclusions -- 3.2 Problem considerations -- 3.2.1 Environment -- 3.2.2 Kinematics of mobile robots -- 3.2.3 Sensor data -- 3.2.4 Optimality criteria -- 3.2.5 Biological inspiration -- 3.2.6 Implementation examples -- 3.2.7 Summary of the methods reviewed -- 3.3 Model predictive control -- 3.3.1 Robust MPC -- 3.3.2 Nonlinear MPC -- 3.3.3 Planning algorithms -- 3.4 Sensor-based techniques -- 3.4.1 Obstacle avoidance via boundary following -- 3.4.1.1 Distance based -- 3.4.1.2 Sliding mode control -- 3.4.1.3 Bug algorithms -- 3.4.1.4 Full information based -- 3.4.2 Sensor-based path planning -- 3.4.3 Other reactive methods -- 3.4.3.1 Artificial potential field methods -- 3.4.3.2 Uncategorized approaches -- 3.5 Moving obstacles -- 3.5.1 Human-like obstacles -- 3.5.2 Known obstacles -- 3.5.3 Kinematically constrained obstacles -- 3.5.3.1 Path-based methods -- 3.5.3.2 Reactive methods -- 3.6 Multiple robot navigation -- 3.6.1 Communication types -- 3.6.2 Reactive methods -- 3.6.2.1 Potential field methods -- 3.6.2.2 Reciprocal collision avoidance methods -- 3.6.2.3 Hybrid logic approaches -- 3.6.3 Decentralized MPC. , Chapter 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles -- 4.1 Introduction -- 4.2 System description and main assumptions -- 4.3 Off-line shortest path planning -- 4.4 On-line navigation -- 4.5 Computer simulations -- 4.6 Experiments with a real robot -- Chapter 5: Reactive navigation of wheeled robots for border patrolling -- 5.1 Introduction -- 5.2 Boundary following using a minimum distance sensor: System description and problem statement -- 5.3 Main assumptions of theoretical analysis -- 5.4 Navigation for border patrolling based on minimum distance measurements -- 5.4.1 Proof of Theorem 4.1 -- 5.5 Computer simulations of border patrolling with a minimum distance sensor -- 5.6 Boundary following with a rigidly mounted distance sensor: Problem setup -- 5.7 Assumptions of theoretical analysis and tuningof the navigation controller -- 5.7.1 Tuning of the navigation controller -- 5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposednavigation law -- 5.8.1 Illustrative analysis of the convergence domain -- 5.8.2 Proofs of Theorem 8.1 and Lemmas 8.1 and 8.2 -- 5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor -- 5.10 Experiments with a real robot -- Chapter 6: Safe navigation to a target in unknown cluttered static environments -- 6.1 Navigation for target reaching with obstacle avoidance: Problem statement and navigation strategy -- 6.2 Assumptions of theoretical analysis and convergence of the navigation strategy -- 6.2.1 Proof of Theorem 2.1 -- 6.3 Computer simulations of navigation with obstacle avoidance -- Chapter 7: Algorithm for reactive navigation of nonholonomic robots in maze-like environments -- 7.1 Introduction -- 7.2 Problem setup and navigation strategy -- 7.3 Assumptions of theoretical analysis and tuning the navigation law. , 7.4 Convergence and performance of the navigation law -- 7.4.1 Proof of Proposition 4.2 and Remark 4.2 -- 7.4.2 Proof of Theorem 4.1 -- 7.5 Simulations and experiments with a real wheeled robot -- 7.A Appendix: Proofs of Proposition 4.1 and Lemmas 4.6 and 4.7 -- 7.A.1 Technical facts and the proof of Lemma 4.7 -- 7.A.2 Auxiliary deterministic algorithm -- 7.A.3 Symbolic path and its properties -- 7.A.4 Proof of Proposition A.1 -- 7.A.5 Proof of Proposition 4.1 -- 7.A.6 Proof of Lemma 4.6 -- Chapter 8: Biologically-inspired algorithm for safe navigation of a wheeled robot among moving obstacles -- 8.1 Introduction -- 8.2 Problem description -- 8.3 Navigation algorithm -- 8.4 Mathematical analysis of the navigation strategy -- 8.4.1 Proof of Theorem 4.1 -- 8.5 Computer simulations -- 8.6 Experiments with a laboratorial wheeled robot -- 8.7 Algorithm implementation with a robotic wheelchair -- 8.7.1 Experimental results with an intelligent autonomous wheelchair -- 8.8 Algorithm implementation with a robotic motorized hospital bed -- 8.8.1 Experimental results with Flexbed -- Chapter 9: Reactive navigation among moving and deforming obstacles: Problems of border patrolling and avoiding collisions -- 9.1 Introduction -- 9.2 System description and border patrolling problem -- 9.3 Navigation for border patrolling -- 9.4 Main assumptions -- 9.4.1 Proof of Proposition 4.1 -- 9.5 Main results concerning border patrolling problem -- 9.5.1 Proofs of Theorem 5.1, Lemma 5.1, and Remarks 5.2 and 5.3 -- 9.6 Illustrative examples of border patrolling -- 9.6.1 Steady rigid body -- 9.6.2 Rigid body moving with a constant speed V in a priori unknown and fixed direction -- 9.6.3 Translational motion of a rigid body -- 9.6.4 Escorting a convoy of unicycle-like vehicles -- 9.6.5 Escorting a bulky cigar-shaped vehicle. , 9.7 Navigation in an environment cluttered with moving obstacles -- 9.8 Simulations -- 9.9 Experimental results -- Chapter 10: Seeking a path through the crowd: Robot navigation among unknowingly moving obstacles based on an integrated repres -- 10.1 Introduction -- 10.2 Problem description -- 10.3 Navigation algorithm -- 10.4 Mathematical analysis of the navigation strategy -- 10.4.1 Proof of Theorem 4.1 -- 10.5 Computer simulations -- 10.6 Experiments with a real robot -- Chapter 11: A globally converging reactive algorithm for robot navigation in scenes densely cluttered with moving and deforming -- 11.1 Introduction -- 11.2 Problem setup -- 11.3 The navigation algorithm -- 11.4 Collision avoidance -- 11.5 Achieving the main navigation objective -- 11.5.1 Counterexample -- 11.5.2 Main results -- 11.5.3 Proof of Theorem 5.1 -- 11.6 Illustrations of the main results for special scenarios -- 11.6.1 Disk-shaped obstacles -- 11.6.1.1 Irregularly and unpredictably moving disk-shaped obstacles with a common speed bound -- 11.6.1.2 Motion along a corridor obstructed with irregularly and unpredictably moving disk-shaped obstacles -- 11.6.2 Thin cigar-shaped obstacles -- 11.6.2.1 Steady-size segments irregularly and unpredictably moving so that they remain perpendicular to the desired direction f -- 11.6.3 Navigation in the field of rotating segments -- 11.7 Simulations -- Chapter 12: Safe cooperative navigation of multiple wheeled robots in unknown steady environments with obstacles -- 12.1 Introduction -- 12.2 Problem statement -- 12.3 Proposed navigation system -- 12.3.1 Architecture of navigation system -- 12.3.2 Enhanced safety margins adopted by TPM -- 12.3.3 Trajectory planning module -- 12.3.3.1 Generation of planned trajectories (Step S.1) -- 12.3.3.2 Refinement of the planned trajectories (Step S.2). , 12.3.3.3 Selection of the probational trajectory -- 12.3.3.4 Entire operation of the trajectory planning module -- 12.3.4 Trajectory tracking module -- 12.3.4.1 Path tracking module -- 12.3.4.2 Longitudinal tracking module -- 12.3.5 Collision avoidance -- 12.3.6 Concluding remarks -- 12.4 Simulation results -- 12.5 Experimental results with wheeled robots -- Bibliography -- Index -- Back Cover. , English

Additional Edition: ISBN 0-12-803730-X

Language: English