02229cam a22002412 b45000010008000000030008000080050017000160080041000330200018000740200070000920370013001620400037001750500023002120820022002351000017002572450076002742600030003503000034003803650016004145040051004305201494004816500012019759391616BD-DhUL20150205101555.0110412e20111028njua     |||||||| 2|eng|d  a9781118026403  a1118026403 (Online Resource)cUSD 103.95 Retail Price (Publisher)  b00028608  aBIP USdWaSeSSdBD-DhULcBD-DhUL 4aTJ211.415.C68 201100a629.8932222bCOM1 aCook, Gerald10aMobile Robots :bNavigation, Control and Remote Sensing /c Gerald Cook  aHoboken : bWiley,c2011.  axvi, 307 p. :bill. ;c22 cm.  aUS $b99.95  aIncludes bibliographical references and index.8 aAnnotationbAn important feature of this book is the particular combination of topics included. These are (1) control, (2) navigation and (3) remote sensing, all with application to mobile robots. Much of the material is readily extended to any type ground vehicle. In the controls area, robot steering is the issue. Both linear and nonlinear models are treated. Various control schemes are utilized, and through these applications the reader is introduced to methods such as: (1) Linearization and use of linear control design methods for control about a reference trajectory, (2) Use of Lyapunov stability theory for nonlinear control design, (3) Derivation of optimal control strategies via Pontryagins maximum principle, (4) Derivation of a local coordinate system which is fundamental for the steering of vehicles along a path never before traversed. This local coordinate system has application regardless of the control design methods utilized. In the navigation area, various coordinate systems are introduced, and the transformations among them are derived. (1) The Global Positioning System (GPS) is introduced and described in significant detail. (2) Also introduced and discussed are inertial navigation systems (INS). These two methods are treated in terms of their ability to provide vehicle position as well as attitude. A preceding chapter is devoted to coordinate rotations and transformations since they play an important role in the understanding of this body of theory.  2Mobile.