000			02478nam a22003017a 4500
003			EG-NbEJU
005			20240710134511.0
008			240710t2011 nju gr 001 0 eng d
020			_a9780470630211 (hardback)
020			_a9781118026403 (oBook)
020			_a9781118027196 (ePDF)
020			_a978111802906 (ePub)
040			_aEG-NbEJU _beng _cEG-NbEJU _dEG-NbEJU
041			_aeng
050			_aTJ211.415 _b.C68 2011
100	1		_aCook , Gerald , _d1937-
245	1	0	_aMobile Robots : _bNavigation , Control and Remote Sensing / _c[by] : Gerald Cook
260			_aHoboken , New Jersey ; _aPiscataway , New Jersey : _bJohn Wiley & Sons, Inc , _bIEEE Press , _c©2011
300			_axvi , 307 pages : _billustrations ; _c25 cm.
504			_aIncludes bibliographical references and index
520			_aAn 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 Pontryagin's 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
650		0	_2LCSH _aMobile robots
650		0	_2LCSH _aRobotics
650		0	_2LCSH _aArtificial Intelligence
901			_asara sorur
902			_aENG_03_ (2479)
942			_2lcc _cBK _n0
999			_c4810 _d4810