UID:
edocfu_9960074028302883
Umfang:
1 online resource (0 p.)
Ausgabe:
1st ed.
ISBN:
0-12-803757-1
Anmerkung:
Description based upon print version of record.
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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.
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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.
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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.
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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).
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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.
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English
Weitere Ausg.:
ISBN 0-12-803730-X
Sprache:
Englisch
