02282cam a22002652 b4500 9391616 BD-DhUL 20150205101555.0 110412e20111028njua |||||||| 2|eng|d 9781118026403 1118026403 (Online Resource) USD 103.95 Retail Price (Publisher) 00028608 BIP US WaSeSS BD-DhUL BD-DhUL TJ211.415.C68 2011 629.8932 22 COM Cook, Gerald Mobile Robots : Navigation, Control and Remote Sensing / Gerald Cook Hoboken : Wiley, 2011. xvi, 307 p. : ill. ; 22 cm. US $ 99.95 Includes bibliographical references and index. Annotation An 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. Mobile. ddc BK 29891 29891 0 0 ddc 0 629_893200000000000_COM 0 NFIC 56717 DUSL DUSL GEN 2012-06-30 Purchased 629.8932 COM 471535 2015-01-12 2015-01-12 BK