Mobile Robot: Motion Control and Path Planning (Studies in Computational Intelligence, 1090)

Preface
Contents
Leader-Follower Formation Control of Mobile Robots Based on Simplified Super-Twisting Algorithm
	1 Introduction
		1.1 Ground Mobile Robots
		1.2 Problem Statement
		1.3 Main Contribution
		1.4 Chapter Structure
	2 Differential Mobile Robot Model
	3 Leader-Follower (L-F) Tracking Control
	4 Simulation Results
	5 Experimental Results
		5.1 Circular Trajectory
		5.2 Line Formation
		5.3 Column Formation
		5.4 Switching Formation
	6 Conclusion
	References
Deep Reinforcement Learning Applied to Multi-agent Informative Path Planning in Environmental Missions
	1 Introduction
	2 Related Work
	3 Statement of the Problem
		3.1 Information Framework
		3.2 Informative Path Planning
	4 Methodology
		4.1 Markov Decision Process
		4.2 Deep Q Learning
	5 Simulation and Results
		5.1 Reward Function Comparison
		5.2 Exploration Efficiency
		5.3 Comparison with Other Algorithms
	6 Discussion of the Results
	7 Conclusions
	References
Analysis of Computer Vision-Based Techniques for the Recognition of Landing Platforms for UAVs
	1 Introduction
		1.1 General Considerations
		1.2 Proposed Methods
		1.3 Problem Description
		1.4 Outlines
	2 Related Works
		2.1 Patents
	3 Method 1: Expert System-Based Approach
	4 Method 2: Cognitive Computation-Based Approach
	5 Theoretical Aspects
		5.1 Color Models
		5.2 Binarization
		5.3 Thresholding
		5.4 Connected Components Labeling
		5.5 Feature Extraction: Hu Moments
	6 Results
		6.1 Distance Test
		6.2 Inclination Angle Test
		6.3 Lighting Condition Test
	7 Conclusion and Future Work
		7.1 Conclusion
		7.2 Future Work
	References
Monitoring Peak Pollution Points of Water Resources with Autonomous Surface Vehicles Using a PSO-Based Informative Path Planner
	1 Introduction
	2 State of the Art
	3 Statement of the Problem
		3.1 Monitoring Problem
		3.2 Assumptions
	4 PSO-Based Path Planning Algorithms
		4.1 Classic Particle Swarm Optimization (PSO)
		4.2 Enhanced GP-Based PSO
		4.3 Enhanced GP-Based PSO Based on Epsilon Greedy Method
	5 Results
		5.1 Ground Truth
		5.2 Performance Metric
		5.3 Setting Simulation Parameters
		5.4 Performance Comparison
	6 Discussion of the Results
	7 Conclusions
	References
Robot-Based Medicine. Robots in Medicine: Mobile Robots Versus Mobile Decision, Necessity Versus Possibility and Future Challenges
	1 Introduction
	2 Work and Medicine
	3 Medical Robots
	4 Robin Heart
	5 Mobility in Medicine
	6 Bio-technical, Hybrid Robot
	7 Medical Robots’ Market
	8 Product Life Cycle
	9 AI and Robots
	10 Ethics of the Age of Medical Robots
	11 Discussion
	12 Conclusion
	References
Event-Based Robust Control Techniques for Wheel-Based Robots Under Cyber-Attack and Dynamic Quantizer
	1 Introduction
		1.1 Background
		1.2 Motivations
		1.3 Problem Statement
		1.4 Chapter Organisation
	2 Event-Based AOTSMC Design Under DoS Attacks
		2.1 Problem Formulation
		2.2 Denial-of-Service Attacks
		2.3 Stability and Cyber Attacks
		2.4 Results and Discussion
	3 Quantized Event-Triggered Terminal SMC Design for Uncertain Input-Delayed Dynamic
		3.1 Problem Formulation
		3.2 Control Methodology
		3.3 Quantized Event-Triggered Control Design
		3.4 Inter-sampling Time Calculation
		3.5 Numerical Simulations
	4 Conclusions
	References
Path Optimization and Multi-level Path Planning for the Steam Field Navigation Algorithm
	1 Introduction and Background
	2 The Mathematical Model and the Fundamental SFN Approach
	3 Fluid Path Optimization
		3.1 Level 1 Optimization (L1)
		3.2 Level 2 Optimization (L2)
		3.3 Level 3 Optimization (L3)
		3.4 Results
	4 SFN in Multi-level Path Planning
		4.1 MLPP Approach
		4.2 Results
	5 ROS Environment
	6 Conclusion
	7 Future Work
	References
Modeling and Simulation of Quadcopter Using Self-tuning Fuzzy-PI Controller
	1 Introduction
	2 Related Work
	3 Dynamical Model of the Quadrirotor
		3.1 Rotational Matrix
	4 Rotational Speed
		4.1 Travelling Speeds
		4.2 Physical Effects Acting on the Quad-Copter
	5 Proposed Strategy
		5.1 Literature Review
		5.2 PI Controller
		5.3 Fuzzy-PI Controller with Self-tuning
	6 Results and Interpretations
		6.1 Test1
		6.2 Test2
	7 Conclusions
	References
Using an Interactive Theorem Prover  for Formally Analyzing the Dynamics  of the Unmanned Aerial Vehicles
	1 Introduction
	2 Related Work
	3 Higher-Order-Logic TP and HL
		3.1 Higher-Order-Logic TP
		3.2 HLTP
	4 Formal Modeling of the Coordinate Systems
	5 Formal Verification of the Dynamics of UAVs
	6 Formal Stability Analysis of CropCam UAV
	7 Discussions
	8 Conclusions
	References
Adaptive Fault-Tolerant Control Design for Multi-linked Two-Wheel Drive Mobile Robots
	1 Introduction
	2 Related Works
	3 Mathematical Modelling
		3.1 Modelling of n-linked 2WD Mobile Robots
		3.2 Modelling of Three-Linked 2WD Mobile Robots
	4 Conversion of the Model into the Canonical Chained Form
		4.1 Kinematic Model Transformation of n-linked Robots into the Chained Form
		4.2 Illustration for Three-Linked Robots
		4.3 The Fault Model of Actuator for Multi-linked 2WD Mobile Robots
		4.4 Feasible Trajectories and Controllability
	5 Design of Adaptive Fault-Tolerant Control
		5.1 Design of Kinematic Control Law
		5.2 Dynamic Control Design
		5.3 Stability Analysis
	6 Simulations
	7 Conclusions
	8. Appendix
		8.1. Input Transformation Matrix B(q)
	9. Appendix
		9.2. Inertia Matrix M(q) and Matrix of Coriolis Forces C(q,) for Robotic System
	References
Design and Implementation of a Robust 6-DOF Quadrotor Controller Based on Kalman Filter for Position Control
	1 Introduction
	2 Analytical Model of Quadcopter
		2.1 Basic Concept
		2.2 Dynamic Modelling of the Quadcopter
		2.3 Dynamic of the Actuator
	3 Controller Design
		3.1 PID Controller
		3.2 Kalman Filter (KF)
		3.3 Linear State Space Representation
		3.4 Flight Control Algorithm
	4 Simulation Results
		4.1 Iteration 1: Monitoring System Effectiveness
		4.2 Iteration 2: Trajectory Test
	5 The Autopilot PIXHAWK\'s Description
	6 Software Development
		6.1 Matlab/SIMULINK Environment
		6.2 Operational System Dependencies
		6.3 Pixhawk Support Package (PSP)
	7 Analytical 6DOF Quadcopter Control Model Using MatLab/Simulink
		7.1 Modelling of Flight Corrector
		7.2 Modelling of Kalman Filter
		7.3 Mixer for a Quadcopter
		7.4 Scaling of the PWM
	8 Testing of the System
		8.1 Setting of the Software
		8.2 Program Creation Procedure
		8.3 Testing of Pixhawk
	9 Results and Simulation of the Drone
	10 Conclusion
	References
Wireless Sensor Network Based Mobile Robot Applications
	1 Introduction
	2 Related Work
	3 Concepts of WSN
	4 Topologies and Protocols of WSN
	5 Concepts of Deep-Learning
	6 Methods of Deep-Learning
	7 Mobile Robotic Wheelchair Based on Gaze Direction Signals for Quadriplegic People
	8 Mobile Robotic Wheelchair Based on EEG Signals for Quadriplegic People
	9 Intelligent Indoor Localization of Mobile Robotic Car
	10 Discussions
	11 Conclusions
	12 Summary
	References
Fault Diagnosis and Fault Tolerant Control for n-Linked Two Wheel Drive Mobile Robots
	1 Introduction
	2 Related Works
	3 Methodology and Mathematical Modelling
		3.1 Modelling of Three-Linked 2WD Mobile Robots
		3.2 Fault Estimation and Compensation
		3.3 Fault Tolerant Control
	4 Generalization for n-Linked 2WD Mobile Robots
		4.1 Nonlinear Adaptive Observer
		4.2 Fault Estimation
		4.3 Fault Tolerant Control Design
	5 Simulation Studies
	6 Conclusion
	References
Fractional Order Extended State Observer Enhances the Performance of Controlled Tri-copter UAV Based on Active Disturbance Rejection Control
	1 Introduction
	2 Related Works
	3 Methodology
		3.1 Kinematic Model
		3.2 Dynamic Model
	4 Analysis of Active Disturbance Rejection Control Schemes
		4.1 Tracking Differentiator (TD)
		4.2 Extended State Observer
		4.3 Linear State Error Feedback (LSEF)
	5 Proposed Control System
		5.1 Tunicate Swarm Algorithm
	6 Results and Discussion
	7 Conclusion
	References
Robust Adaptive Sliding Mode Controllers Design for a Non-holonomic Mobile Robot
	1 Introduction
	2 Related Work
	3 Mathematical Model of Mobile Platform
		3.1 Analytical Mechanics
		3.2 The Euler–Lagrange Equation
		3.3 Constraints in Mechanical Systems
		3.4 Differential Drive Mobile Robot Description
		3.5 Mathematical Model of a Differential-Drive Mobile Platform
	4 Sliding Mode Control Design
		4.1 Sliding Mode Control (SMC)
		4.2 Conventional SMC
		4.3 Unit Sliding Mode Control
		4.4 ASMC
		4.5 The Chattering Problem
		4.6 Coupling and Decoupling
		4.7 Control Design of Nonholonomic Mobile Robot
	5 Simulation Results
		5.1 Simulation Results Based on ACSMC
		5.2 Simulation Results Based on AUSMC
		5.3 Performance Comparison
		5.4 Future Work
	6 Conclusions
	Appendix A
	Appendix B
	References
Algorithmic Design of Block Backstepping Motion and Stabilization Control for Segway Mobile Robot
	1 Introduction
	2 Related Works
	3 Mathematical Model of Segway Mobile Robot System
		3.1 Dynamic Model of DC Motor
		3.2 Dynamic Model of Wheel
		3.3 Dynamic Analysis of Inverted Pendulum
	4 Block Backstepping Control Design of Segway Mobile Robot
		4.1 Block Back-Stepping for Linearized Model
		4.2 Block Backstepping Design of Nonlinear Model
		4.3 Analysis Based on Zero Dynamics
		4.4 Stability Analysis
	5 Simulation and Results
		5.1 Regulator Path
		5.2 Tracking Path
		5.3 Performance Assessment Under Large Initial Conditions
		5.4 Simulation Results Based on Integral Action and Disturbance Effects
		5.5 Simulation Results for Circle Path
	6 Conclusion
	References
Extremum Seeking Based PID Control of Quadrotor System
	1 Introduction
	2 Related Works
	3 Mathematical Model of Quadrotor Dynamic
	4 Applied Control Strategy
		4.1 Position Controller
		4.2 Non-holonomic Constraints
		4.3 Attitude Controller
	5 Extremum Seeking (ES) Control
		5.1 Auto-Tuning of PI-D Controller Based on Extremum Seeking Algorithm
		5.2 Stability Analysis
	6 Particle Swarm Optimization Algorithm
	7 Simulation Results
		7.1 Position Control
		7.2 Non-Holonomic Constraint
		7.3 Displacement Simulation Results
		7.4 Disturbance Rejection Performance of the Controllers
		7.5 Robustness Against system’s Uncertainties
		7.6 PID tuning using PSO
	8 Conclusion
	References
Wireless Sensor Network for Robot Navigation
	1 Introduction
		1.1 The Robotic Map Problem
		1.2 Objective of Chapter
	2 Related Work
	3 Applications and History of Wireless Sensor Networks
	4 Mobile Wireless Sensor Networks
		4.1 Differences Between WSNs and MWSNs
	5 Localizations in the MWSNs
		5.1 The Impacts of the Environment on Localization
	6 MWSN Applications with Localization
		6.1 Commercial
		6.2 Environmental
	7 Robot Navigate
		7.1 Structured Environments
		7.2 Partially Structured Environments
		7.3 Unstructured Environments
	8 Mobile Robot Navigation in Indoor Environments
	9 Mobile Robot Navigation in the Outdoor Environments
	10 Robot Navigations in Complex Environments
	11 Research Methodology
	12 Conclusions
	13 Future Directions
	References