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by Igor Skrjanc, Saso Blazic, Andrej Zdesar, Gregor Klancar
Wheeled Mobile Robotics
Cover image
Title page
Table of Contents
Copyright
Preface
Acknowledgements
Chapter 1: Introduction to Mobile Robotics
Abstract
1.1 Introduction
1.2 History
1.3 About the Book
Chapter 2: Motion Modeling for Mobile Robots
Abstract
2.1 Introduction
2.2 Kinematics of Wheeled Mobile Robots
2.3 Motion Constraints
2.4 Dynamic Model of a Mobile System With Constraints
Chapter 3: Control of Wheeled Mobile Systems
Abstract
3.1 Introduction
3.2 Control to Reference Pose
3.3 Trajectory Tracking Control
3.4 Optimal Velocity Profile Estimation for a Known Path
Chapter 4: Path Planning
Abstract
4.1 Introduction
4.2 Environment Presentation for Path Planning Purposes
4.3 Simple Path Planning Algorithms: Bug Algorithms
4.4 Graph-Based Path Planning Methods
Chapter 5: Sensors Used in Mobile Systems
Abstract
5.1 Introduction
5.2 Coordinate Frame Transformations
5.3 Pose Measurement Methods
5.4 Sensors
Chapter 6: Nondeterministic Events in Mobile Systems
Abstract
6.1 Introduction
6.2 Basics of Probability
6.3 State Estimation
6.4 Bayesian Filter
6.5 Kalman Filter
6.6 Particle Filter
Chapter 7: Autonomous Guided Vehicles
Abstract
7.1 Introduction
7.2 Autonomous Transportation Vehicles
7.3 Wheeled Mobile Robots in Agriculture
7.4 Wheeled Mobile Robots in Industry
7.5 Wheeled Mobile Robots in Domestic Environments
7.6 Assistive Mobile Robots in Walking Rehabilitation Therapy
Chapter 8: Project Examples for Laboratory Practice
Abstract
8.1 Introduction
8.2 Localization Based on Bayesian Filter Within a Network of Paths and Crossroads
8.3 Localization Based on Extended Kalman Filter Using Indoor Global Positioning System and Odometry
8.4 Particle-Filter-Based Localization in a Pattern of Colored Tiles
8.5 Control of Vehicles in a Linear Formation
8.6 Motion and Strategy Control of Multiagent Soccer Robots
8.7 Image-Based Control of a Mobile Robot
8.8 Particle-Filter-Based Localization Using an Array of Ultrasonic Distance Sensors
8.9 Path Planning of a Mobile Robot in a Known Environment
Index
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