Table of Contents 1
Cover
2
Preface
5
1 Kinematic Models for Mobile Robots
1.1 Introduction
1.2 Vehicles with Front‐Wheel Steering
1.3 Vehicles with Differential‐Drive Steering
Exercises
References
6
2 Mobile Robot Control
2.1 Introduction
2.2 Front‐Wheel Steered Vehicle, Heading Control
2.3 Front‐Wheel Steered Vehicle, Speed Control
2.4 Heading and Speed Control for the Differential‐Drive Robot
2.5 Reference Trajectory and Incremental Control, Front‐Wheel Steered Robot
2.6 Heading Control of Front‐Wheel Steered Robot Using the Nonlinear Model
2.7 Computed Control for Heading and Velocity, Front‐Wheel Steered Robot
2.8 Heading Control of Differential‐Drive Robot Using the Nonlinear Model
2.9 Computed Control for Heading and Velocity, Differential‐Drive Robot
2.10 Steering Control Along a Path Using a Local Coordinate Frame
2.11 Optimal Steering of Front‐Wheel Steered Vehicle
2.12 Optimal Steering of Front‐Wheel Steered Vehicle, Free Final Heading Angle
Exercises
References
7
3 Robot Attitude
3.1 Introduction
3.2 Definition of Yaw, Pitch, and Roll
3.3 Rotation Matrix for Yaw
3.4 Rotation Matrix for Pitch
3.5 Rotation Matrix for Roll
3.6 General Rotation Matrix
3.7 Homogeneous Transformation
3.8 Rotating a Vector
Exercises
References
8
4 Robot Navigation
4.1 Introduction
4.2 Coordinate Systems
4.3 Earth‐Centered Earth‐Fixed Coordinate System
4.4 Associated Coordinate Systems
4.5 Universal Transverse Mercator Coordinate System
4.6 Global Positioning System
4.7 Computing Receiver Location Using GPS, Numerical Methods
4.8 Array of GPS Antennas
4.9 Gimbaled Inertial Navigation Systems
4.10 Strap‐Down Inertial Navigation Systems
4.11 Dead Reckoning or Deduced Reckoning
4.12 Inclinometer/Compass
Exercises
References
9
5 Application of Kalman Filtering
5.1 Introduction
5.2 Estimating a Fixed Quantity Using Batch Processing
5.3 Estimating a Fixed Quantity Using Recursive Processing
5.4 Estimating the State of a Dynamic System Recursively
5.5 Estimating the State of a Nonlinear System via the Extended Kalman Filter
Exercises
References
10
6 Remote Sensing
6.1 Introduction
6.2 Camera‐Type Sensors
6.3 Stereo Vision
6.4 Radar Sensing: Synthetic Aperture Radar
6.5 Pointing of Range Sensor at Detected Object
6.6 Detection Sensor in Scanning Mode
Exercises
References
11
7 Target Tracking Including Multiple Targets with Multiple Sensors
7.1 Introduction
7.2 Regions of Confidence for Sensors
7.3 Model of
