Embedded Control for Mobile Robotic Applications (IEEE Press Series on Control Systems Theory and Applications)

Cover
Title Page
Copyright
Contents
Preface
Acknowledgments
Acronyms
Introduction
About the Companion Website
Chapter 1 Embedded Technology for Mobile Robotics
	1.1 Embedded Control System
	1.2 Mobile Robotics
		1.2.1 Robot Model for 2D Motion
			1.2.1.1 Generic Model
			1.2.1.2 Unicycle Model
			1.2.1.3 Differential‐Drive Mobile Robot or DDMR
			1.2.1.4 Front Wheel Steering Robot or FWSR
			1.2.1.5 Chained form of Unicycle
			1.2.1.6 Single Integrator Model of Unicycle
			1.2.1.7 Discrete‐time Unicycle Model
		1.2.2 Robot Model for 3D Motion
			1.2.2.1 Quadcopter – An Aerial Vehicle
			1.2.2.2 Six‐Thrusters Configuration – An Underwater Vehicle
	1.3 Embedded Technology
		1.3.1 Processor Technology
		1.3.2 IC Technology
	1.4 Commercially Available Embedded Processors
		1.4.1 Microprocessor
		1.4.2 Microcontroller
		1.4.3 Field Programmable Gate Arrays (FPGA)
		1.4.4 Digital Signal Processor
	1.5 Notes and Further Readings
Chapter 2 Discrete‐time Controller Design
	2.1 Transfer Function for Equivalent Discrete‐time System
	2.2 Discrete‐time PID Controller Design
	2.3 Stability in Embedded Implementation
		2.3.1 Sampling
		2.3.2 Quantization
		2.3.3 Processing Time
	2.4 Notes and Further Readings
Chapter 3 Embedded Control and Robotics
	3.1 Transformations
		3.1.1 2D Transformations
		3.1.2 3D Transformations
	3.2 Collision Detection and Avoidance
		3.2.1 Vector Field Histogram (VFH)
		3.2.2 Curvature Velocity Technique (CVM)
		3.2.3 Dynamic Window Approach (DWA)
	3.3 Localization
	3.4 Path Planning
		3.4.1 Potential Field Path Planning
		3.4.2 Graph‐based Path Planning
			3.4.2.1 Dijkstra\'s Algorithm
			3.4.2.2 A* Algorithm
			3.4.2.3 Rapidly‐exploring Random Trees (RRT) Algorithm
	3.5 Multi‐agent Scenarios
	3.6 Notes and Further Readings
Chapter 4 Bottom‐up Method
	4.1 Computations Using CORDIC1
		4.1.1 Coordinate Transformation
			4.1.1.1 Cartesian to Polar Coordinates Conversion
			4.1.1.2 Polar to Cartesian Coordinate Conversion
		4.1.2 Exponential and Logarithmic Functions
	4.2 Interval Arithmetic2
		4.2.1 Basics of Interval Arithmetic
		4.2.2 Inclusion Function and Inclusion Tests
	4.3 Collision Detection Using Interval Technique3
	4.4 Free Interval Computation for Collision Avoidance4
		4.4.1 Illustration for Detecting Collision and Computing Free interval
	4.5 Notes for Further Reading
Chapter 5 Top‐Down Method
	5.1 Robust Controller Design
		5.1.1 Basic Definitions
		5.1.2 State Feedback Control
		5.1.3 Sliding‐Mode Control
		5.1.4 Sliding Surface Design for Position Stabilization in 2D
		5.1.5 Position Stabilization for a Vehicle in 3D
		5.1.6 Embedded Implementation
	5.2 Switched Nonlinear System
		5.2.1 Swarm Aggregation as a Switched Nonlinear System
			5.2.1.1 Free Subsystem s1
			5.2.1.2 Engaged Subsystem s2
		5.2.2 Embedded Implementation
	5.3 Notes and Further Readings
Chapter 6 Generic FPGA Architecture Design
	6.1 FPGA Basics and Verilog
	6.2 Systematic Approach for Designing Architecture Using FSM
		6.2.1 PID Controller Architecture
		6.2.2 Sliding‐Mode Controller Architecture
	6.3 FPGA Implementation
	6.4 Parallel Implementation of Multiple Controllers
	6.5 Notes and Further Readings
Chapter 7 Summary
Bibliography
Index
Books in the IEEE Press Series on Control SystemsTheory and Applications
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