Introduction to Mobile Robot Control

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Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methodologies for wheeled non-holonomic and omnidirectional mobile robots and manipulators. Commencing with a study of mobile robot drives and corresponding kinematic and dynamic models, there is a discussion of the sensors used in mobile robotics. The book then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance and focuses on the problems of path, motion and task planning, along with localization and mapping topics. There is a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society.Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field.