Safe Robot Navigation Among Moving and Steady Obstacles

Safe Robot Navigation Among Moving and Steady Obstacles

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Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles.

The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario.

For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital.
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Product details

  • Paperback | 358 pages
  • 152 x 229 x 17.78mm | 570g
  • Butterworth-Heinemann Inc
  • Woburn, United States
  • English
  • black & white illustrations
  • 012803730X
  • 9780128037300

Table of contents



Frequently used notations

1 Introduction

2 Fundamentals of sliding mode control

3 Survey of algorithms for safe navigation of mobile robots in complex Environments

4 Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles

5 Reactive navigation of wheeled robots for border patrolling

6 Safe navigation to a target in unknown cluttered static environments based on border patrolling algorithms

7 Algorithm for reactive navigation of nonholonomic robots in maze-like environments

8 Biologically-inspired algorithm for safe navigation of a wheeled robot among moving obstacles

9 Reactive navigation among moving and deforming obstacles: Problems of border patrolling and avoiding collisions

10 Seeking a path through the crowd: Robot navigation among unknowingly moving obstacles based on an integrated representation of the environment

11 A globally converging reactive algorithm for robot navigation in scenes densely cluttered with moving and deforming obstacles

12 Safe cooperative navigation of multiple wheeled robots in unknown steady environments with obstacles


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About Michael Hoy

He has authored and co-authored 6 research monographs (published by Springer, Birkhauser and IEEE Press/Wiley) and about 180 journal papers. Almost all Savkin's journal publications are in top international journals. His publications are well cited by other researchers. Savkin has h-index of 34 according to Scopus Index (does not consider books), and h-index of 45 according to Prof. Savkin served as an Associate and/or Guest Editor for several international journals and numerous international conferences in the field. Currently, he is an Associate Editor for "Automatica" that is the most prestigious journal Elsevier has on Control Engineering, Topic Editor in Chief (Navigation and Control) for International Journal of Advanced Robotic Systems. and an Associate Editor for "Mathematical Problems of Engineering". He is also the Workshop Program Chair for the 2015 IEEE Multi-Conference on Systems and Control. He has authored and co-authored 5 research monograph (published by Birkhauser and IEEE Press/Wiley) and about 100 journal papers. Almost all Matveev's journal publications are in top international journals, such as "Automatica", "International Journal of Control", "IEEE Transactions on Automatic Control". Prof. Matveev is responsible for many theoretical advances in the areas of optimal control, hybrid systems, networked control systems, and robot navigation.
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