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Xiaoou Li Jeffrey Reed
Mobile Robots
Navigation, Control and Sensing, Surface Robots and AUVs
Second Edition
Gerald Cook
George Mason University
Feitian Zhang
George Mason University
Copyright © 2020 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved.
Published by John Wiley & Sons, Inc., Hoboken, New Jersey.
Published simultaneously in Canada.
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Library of Congress Cataloging‐in‐Publication Data is available.
hardback: 9781119534785
Gerald Cook
To my heavenly Father for leading me to a vocation that has brought me a lifetime of joy and happiness.
To my wife, Nancy Anne, for her encouragement and support of all my endeavors throughout my career.
To my two adult sons, Bo and Ford, for their continued encouragement and interest in my work.
To my mother, Rose Boyer Cook, who as a single parent of four provided so abundantly for our needs.
Feitian Zhang
To my wife, Mi Zhou, and our children, Andy and Lisa, for bringing me strength and joy that encourage me throughout my career.
To my parents, Guangbo Zhang and Dongmei He, for their unconditional love and support all the time.
Preface
A number of experiences and acquaintances have contributed to this project. The Countermine Branch of the Science Division of the Night Vision Electronic Sensors Directorate (NVESD), United States Army played a particularly important role through its sponsorship of related research. This research effort had as its objective the detection and geo‐registration of landmines through the use of vehicular mounted sensors. The nature of the problem required that a broad set of tools be brought to bear. These required tools included a vehicle model, sensor models, coordinate transformations, navigation, state estimation, probabilistic decision making, and others. Much of the required technology had previously existed. The contribution here was to bring together these particular bodies of knowledge and combine them so as to meet the objectives. This led to several interesting years of interaction with NVESD and other researchers in this area of applied research.
Afterwards, it was realized that the work could be cast in a more general framework, leading to a set of notes for a second‐year graduate course in Mobile Robots. A course on modern control and one on random processes are the required prerequisites. This course was taught several times at George Mason University, and numerous revisions and additions resulted as well as a set of problems at the end of each chapter. Finally, the notes were organized more formally with the result being the first edition of this book.
I would like to express my appreciation to some of the individuals who have influenced and encouraged me in the writing of this book. These include Kelly Sherbondy, my research sponsor at NVESD, former colleague Guy Beale, department chairman Andre Manitius, former student Patrick Kreidl, industrial associate Bill Pettus, collaborator at the Naval Research Laboratory Jay Oaks, former students Smriti Kansal and Shwetha Jakkidi who were part of the NVESD project, and the many other students who have attended my classes and provided me with inspiration over the years.
Gerald Cook
The major addition to the second edition of this book includes modeling and control of autonomous underwater vehicles (AUVs), which exhibits unique complex three‐dimensional dynamics. The materials are mainly based on my PhD research project on design, modeling, and control of a novel underwater vehicle named gliding robotic fish that is essentially a hybrid of underwater glider and robotic fish. The research, sponsored by National Science Foundation (NSF), aimed to develop an autonomous platform for aquatic environmental monitoring through fundamental understanding and effective control of gliding robotic fish, which eventually led to generalized modeling and control approaches for AUVs written in this book. I would like to acknowledge and thank my PhD advisor Xiaobo Tan, my collaborators Hassan Khalil at Michigan State University and Fumin Zhang at Georgia Institute of Technology for their enormous support and insightful guidance in the research project, and my colleague Gerald Cook for motivating and encouraging me in co‐writing the second edition of this book.
Feitian Zhang
The following is a suggested schedule for teaching a one‐semester course from this book.
1 Kinematic Models for Mobile Robots: 0.5 weeks.
2 Mobile Robot Control: 1.5 weeks.
3 Robot Attitude: 1.0