Embedded Control for Mobile Robotic Applications

Inbunden, Engelska, 2022

Del i serien IEEE Press Series on Control Systems Theory and Applications

1 368 kr

Beställningsvara. Skickas inom 5-8 vardagar. Fri frakt över 249 kr.

Beskrivning

An all-in-one resource for designing and implementing embedded control in mobile robotics In Embedded Control for Mobile Robotic Applications, a distinguished trio of researchers delivers an authoritative and fulsome resource for understanding embedded control and robotics. The book includes coverage of a variety of embedded platforms, their use in controller implementation, stability analyses of designed controllers, and two new approaches for designing embedded controllers. The authors offer a full chapter on Field-Programmable-Gate-Array (FPGA) architecture development for controller design that is perfect for both practitioners and students taking robotics courses and provide a companion website that includes MATLAB codes for simulation and embedded platform-specific code for mobile robotic applications (in Embedded C and Verilog). The two approaches discussed by the authors—the top-down methodology and the bottom-up methodology—are of immediate practical utility to both practicing professionals in the field and students studying control applications and mobile robotics. The book also offers: A thorough introduction to embedded control, including processor, IC, and design technology, as well as a discussion of limitations in embedded control designComprehensive explorations of the bottom-up and top-down methods, including computations using CORDIC, interval arithmetic, sliding surface design, and switched nonlinear systemsPractical discussions of generic FPGA architecture design, including Verilog, PID controllers, DC motors and Encoder, and a systematic approach for designing architecture using FSMDIn-depth examinations of discrete-time controller design, including the approximation to discrete-time transfer function and embedded implementation stabilityPerfect for practitioners working in embedded control design and control applications in robotics, Embedded Control for Mobile Robotic Applications will also earn a place in the libraries of academicians, researchers, senior undergraduate students, and graduate students in these fields.

Produktinformation

Utgivningsdatum:2022-08-29
Mått:10 x 10 x 10 mm
Vikt:454 g
Format:Inbunden
Språk:Engelska
Serie:IEEE Press Series on Control Systems Theory and Applications
Antal sidor:176
Förlag:John Wiley & Sons Inc
ISBN:9781119812388

Utforska kategorier

Mer om författaren

Leena Vachhani, Professor, Indian Institute of Technology Bombay, Mumbai, India. Leena Vachhani received the Ph.D. degree from IIT Madras, Chennai, India, in 2009. Since Dec, 2009 she has been with the Systems and Control Engineering Group of IIT Bombay, Mumbai, India. Her research interests include hardware/software codesign for mobile robots, sensors for robotic tasks, robot motion planning algorithms, multiagent mapping and patrolling applications. Pranjal Vyas, Advanced Remanufacturing Technology Center, Agency of Science, Technology and Research, (A*STAR), Singapore. Pranjal Vyas received his Ph.D. in Systems and Control Engineering at Indian Institute of Technology Bombay, India in 2017. His research interests include mobile robotics, real time embedded systems, sensors for robotic tasks, robot motion planning algorithms, computer vision and machine learning. Arunkumar G. K. is a Research Scholar with the Indian Institute of Technology Bombay, Mumbai, India. His research is focused on robotic path planning algorithms and multi-robot systems.

Innehållsförteckning

Contributors ixPreface xiAcknowledgments xvAcronyms xviiIntroduction xxi1 Embedded Technology for Mobile Robotics 11.1 Embedded Control System 21.2 Mobile Robotics 41.2.1 Robot Model for 2D Motion 51.2.2 Robot Model for 3D Motion 201.3 Embedded Technology 291.3.1 Processor technology 311.3.2 IC technology 331.4 Commercially available embedded processors 351.4.1 Microprocessor 351.4.2 Microcontroller 361.4.3 Field Programmable Gate Arrays (FPGA) 371.4.4 Digital Signal Processor 381.5 Notes and further readings 392 Discrete-time controller design 412.1 Transfer function for equivalent discrete-time system 422.2 Discrete-time PID Controller design 492.3 Stability in embedded implementation 522.3.1 Sampling 522.3.2 Quantization 552.3.3 Processing time 622.4 Notes and Further Readings 623 Embedded Control and Robotics 653.1 Transformations 673.1.1 2D Transformations 673.1.2 3D Transformations 713.2 Collision detection & avoidance 733.2.1 Vector field histogram (VFH) 743.2.2 Curvature Velocity Technique (CVM) 763.2.3 Dynamic Window Approach (DWA) 763.3 Localization 783.4 Path Planning 833.4.1 Potential field path planning 843.4.2 Graph-based path planning 873.5 Multi-agent scenarios 933.6 Notes and Further Readings 974 Bottom-up Method 994.1 Computations using CORDIC1 1004.1.1 Coordinate transformation 1034.1.2 Exponential and logarithmic functions 1044.2 Interval Arithmetic2 1054.2.1 Basics of Interval Arithmetic 1054.2.2 Inclusion Function and inclusion tests 1084.3 Collision detection using interval technique3 1104.4 Free interval computation for collision avoidance4 1154.5 Notes for further reading 1195 Top-Down Method 1235.1 Robust controller design 1245.1.1 Basic Definitions 1255.1.2 State feedback control 1285.1.3 Sliding mode control 1335.1.4 Sliding surface design for position stabilization in 2D 1445.1.5 Position stabilization for a vehicle in 3D 1495.1.6 Embedded implementation 1595.2 Switched nonlinear system 1605.2.1 Swarm Aggregation as a switched nonlinear system 1645.2.2 Embedded Implementation 1695.3 Notes and Further Readings 1706 Generic FPGA architecture design 1736.1 FPGA basics and Verilog 1746.2 Systematic approach for designing architecture using FSM1 1826.2.1 PID controller architecture 1836.2.2 Sliding Mode Controller Architecture 1906.3 FPGA implementation 1946.4 Parallel Implementation of Multiple Controllers 2006.5 Notes and Further Readings 2017 Summary 203Contributors ixPreface xiAcknowledgments xvAcronyms xviiIntroduction xxi1 Embedded Technology for Mobile Robotics 11.1 Embedded Control System 21.2 Mobile Robotics 41.2.1 Robot Model for 2D Motion 51.2.2 Robot Model for 3D Motion 201.3 Embedded Technology 291.3.1 Processor technology 311.3.2 IC technology 331.4 Commercially available embedded processors 351.4.1 Microprocessor 351.4.2 Microcontroller 361.4.3 Field Programmable Gate Arrays (FPGA) 371.4.4 Digital Signal Processor 381.5 Notes and further readings 392 Discrete-time controller design 412.1 Transfer function for equivalent discrete-time system 422.2 Discrete-time PID Controller design 492.3 Stability in embedded implementation 522.3.1 Sampling 522.3.2 Quantization 552.3.3 Processing time 622.4 Notes and Further Readings 623 Embedded Control and Robotics 653.1 Transformations 673.1.1 2D Transformations 673.1.2 3D Transformations 713.2 Collision detection & avoidance 733.2.1 Vector field histogram (VFH) 743.2.2 Curvature Velocity Technique (CVM) 763.2.3 Dynamic Window Approach (DWA) 763.3 Localization 783.4 Path Planning 833.4.1 Potential field path planning 843.4.2 Graph-based path planning 873.5 Multi-agent scenarios 933.6 Notes and Further Readings 974 Bottom-up Method 994.1 Computations using CORDIC1 1004.1.1 Coordinate transformation 1034.1.2 Exponential and logarithmic functions 1044.2 Interval Arithmetic2 1054.2.1 Basics of Interval Arithmetic 1054.2.2 Inclusion Function and inclusion tests 1084.3 Collision detection using interval technique3 1104.4 Free interval computation for collision avoidance4 1154.5 Notes for further reading 1195 Top-Down Method 1235.1 Robust controller design 1245.1.1 Basic Definitions 1255.1.2 State feedback control 1285.1.3 Sliding mode control 1335.1.4 Sliding surface design for position stabilization in 2D 1445.1.5 Position stabilization for a vehicle in 3D 1495.1.6 Embedded implementation 1595.2 Switched nonlinear system 1605.2.1 Swarm Aggregation as a switched nonlinear system 1645.2.2 Embedded Implementation 1695.3 Notes and Further Readings 1706 Generic FPGA architecture design 1736.1 FPGA basics and Verilog 1746.2 Systematic approach for designing architecture using FSM1 1826.2.1 PID controller architecture 1836.2.2 Sliding Mode Controller Architecture 1906.3 FPGA implementation 1946.4 Parallel Implementation of Multiple Controllers 2006.5 Notes and Further Readings 2017 Summary 203