MOBILE ROBOTS: NAVIGATION, CONTROL AND REMOTE SENSING

By ELIZABETH MARTINEZ

KINEMATIC MODELS FOR MOBILE ROBOTS 1 0 INTRODUCTION, 1 1 VEHICLES WITH FRONT-WHEEL STEERING, 1 2 VEHICLES WITH DIFFERENTIAL-DRIVE STEERING, EXERCISES, REFERENCES, MOBILE ROBOT CONTROL 2 0 INTRODUCTION, 2 1 FRONT-WHEEL STEERED VEHICLE, HEADING CONTROL, 2 2 FRONT-WHEEL STEERED VEHICLE, SPEED CONTROL, 2 3 HEADING AND SPEED CONTROL FOR THE DIFFERENTIAL- DRIVE ROBOT, 2 4 REFERENCE TRAJECTORY AND INCREMENTAL CONTROL, FRONT-WHEEL STEERED ROBOT, 2 5 HEADING CONTROL OF FRONT-WHEEL STEERED ROBOT USING THE NONLINEAR MODEL, 2 6 COMPUTED CONTROL FOR HEADING AND VELOCITY, FRONT-WHEEL STEERED ROBOT, CONTENTS 2 7 HEADING CONTROL OF DIFFERENTIAL DRIVE ROBOT USING THE NONLINEAR MODEL, 2 8 COMPUTED CONTROL FOR HEADING AND VELOCITY, DIFFERENTIAL-DRIVE ROBOT, 2 9 STEERING CONTROL ALONG A PATH USING A LOCAL COORDINATE FRAME, 2 10 OPTIMAL STEERING OF FRONT-WHEEL STEERED VEHICLE, 2 11 OPTIMAL STEERING OF FRONT-WHEEL STEERED VEHICLE, FREE FINAL HEADING ANGLE, ROBOT ATTITUDE 3 0 INTRODUCTION, 3 1 DE? NITION OF YAW, PITCH AND ROLL, 3 2 ROTATION MATRIX FOR YAW, 3 3 ROTATION MATRIX FOR PITCH, 3 4 ROTATION MATRIX FOR ROLL, 3 5 GENERAL ROTATION MATRIX, 3 6 HOMOGENEOUS TRANSFORMATION, 3 7 ROTATING A VECTOR, ROBOT NAVIGATION 4 0 INTRODUCTION, 4 1 COORDINATE SYSTEMS, 4 2 EARTH-CENTERED EARTH-FIXED COORDINATE SYSTEM, 4 3 ASSOCIATED COORDINATE SYSTEMS, 4 4 UNIVERSAL TRANSVERSE MERCATOR (UTM) COORDINATE SYSTEM, 4 5 GLOBAL POSITIONING SYSTEM, 4 6 COMPUTING RECEIVER LOCATION USING GPS, NUMERICAL METHODS, 4 6 1 COMPUTING RECEIVER LOCATION USING GPS VIA NEWTON’S METHOD, 4 6 2 COMPUTING RECEIVER LOCATION USING GPS VIA MINIMIZATION OF A PERFORMANCE INDEX, 4 7 ARRAY OF GPS ANTENNAS, 4 8 GIMBALED INERTIAL NAVIGATION SYSTEMS, 4 9 STRAP-DOWN INERTIAL NAVIGATION SYSTEMS, 4 10 DEAD RECKONING OR DEDUCED RECKONING, 4 11 INCLINOMETER/COMPASS, APPLICATION OF KALMAN FILTERING 5 0 INTRODUCTION, 5 1 ESTIMATING A FIXED QUANTITY USING BATCH PROCESSING, 5 2 ESTIMATING A FIXED QUANTITY USING RECURSIVE PROCESSING, 5 3 ESTIMATING THE STATE OF A DYNAMIC SYSTEM RECURSIVELY, 5 4 ESTIMATING THE STATE OF A NONLINEAR SYSTEM VIA THE EXTENDED KALMAN FILTER, REMOTE SENSING 6 0 INTRODUCTION, 6 1 CAMERA TYPE SENSORS, 6 2 STEREO VISION, 6 3 RADAR SENSING: SYNTHETIC APERTURE RADAR (SAR), 6 4 POINTING OF RANGE SENSOR AT DETECTED OBJECT, 6 5 DETECTION SENSOR IN SCANNING MODE, TARGET TRACKING INCLUDING MULTIPLE TARGETS WITH MULTIPLE SENSORS 7 0 INTRODUCTION, 7 1 REGIONS OF CON? DENCE FOR SENSORS, 7 2 MODEL OF TARGET LOCATION, 7 3 INVENTORY OF DETECTED TARGETS, OBSTACLE MAPPING AND ITS APPLICATION TO ROBOT NAVIGATION 8 0 INTRODUCTION, 8 1 SENSORS FOR OBSTACLE DETECTION AND GEO-REGISTRATION, 8 2 DEAD RECKONING NAVIGATION, 8 3 USE OF PREVIOUSLY DETECTED OBSTACLES FOR NAVIGATION, 8 4 SIMULTANEOUS CORRECTIONS OF COORDINATES OF DETECTED OBSTACLES AND OF THE ROBOT, OPERATING A ROBOTIC MANIPULATOR 9 0 INTRODUCTION, 9 1 FORWARD KINEMATIC EQUATIONS, 9 2 PATH SPECI? CATION IN JOINT SPACE, 9 3 INVERSE KINEMATIC EQUATIONS, 9 4 PATH SPECI? CATION IN CARTESIAN SPACE, 9 5 VELOCITY RELATIONSHIPS, 9 6 FORCES AND TORQUES,