Safe robot navigation among moving and steady obstacles

Physical dimension

Summary / review / table of contents

Front Cover;
Safe Robot Navigation Among Moving and Steady Obstacles;
Copyright;
Contents;
Preface;
Abbreviations;
Frequently used notations;
Chapter 1: Introduction;
1.1 Collision-free navigation of wheeled robots among moving and steady obstacles;
1.2 Overview and organization of the book;
1.3 Sliding mode control;
1.4 Experimental equipment;
1.4.1 Laboratorial wheeled robot Pioneer P3-DX;
1.4.2 Intelligent autonomous wheelchair system;
1.4.3 Autonomous hospital bed system;
Chapter 2: Fundamentals of sliding mode control;
2.1 Introduction;
2.2 Sliding motion;
2.3 Filippov solutions
Chapter 3: Survey of algorithms for safe navigation of mobile robots in complex environments
3.1 Introduction;
3.1.1 Exclusions;
3.2 Problem considerations;
3.2.1 Environment;
3.2.2 Kinematics of mobile robots;
3.2.3 Sensor data;
3.2.4 Optimality criteria;
3.2.5 Biological inspiration;
3.2.6 Implementation examples;
3.2.7 Summary of the methods reviewed;
3.3 Model predictive control;
3.3.1 Robust MPC;
3.3.2 Nonlinear MPC;
3.3.3 Planning algorithms;
3.4 Sensor-based techniques;
3.4.1 Obstacle avoidance via boundary following;
3.4.1.1 Distance based;
3.4.1.2 Sliding mode control
3.4.1.3 Bug algorithms
3.4.1.4 Full information based;
3.4.2 Sensor-based path planning;
3.4.3 Other reactive methods;
3.4.3.1 Artificial potential field methods;
3.4.3.2 Uncategorized approaches;
3.5 Moving obstacles;
3.5.1 Human-like obstacles;
3.5.2 Known obstacles;
3.5.3 Cinematically constrained obstacles;
3.5.3.1 Path-based methods;
3.5.3.2 Reactive methods;
3.6 Multiple robot navigation;
3.6.1 Communication types;
3.6.2 Reactive methods;
3.6.2.1 Potential field methods;
3.6.2.2 Reciprocal collision avoidance methods;
3.6.2.3 Hybrid logic approaches;
3.6.3 Decentralized MPC
Chapter 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles
4.1 Introduction;
4.2 System description and main assumptions;
4.3 Off-line shortest path planning;
4.4 On-line navigation;
4.5 Computer simulations;
4.6 Experiments with a real robot;
Chapter 5: Reactive navigation of wheeled robots for border patrolling;
5.1 Introduction;
5.2 Boundary following using a minimum distance sensor: System description and problem statement;
5.3 Main assumptions of theoretical analysis;
5.4 Navigation for border patrolling based on minimum distance measurements
5.4.1 Proof of Theorem 4.1
5.5 Computer simulations of border patrolling with a minimum distance sensor;
5.6 Boundary following with a rigidly mounted distance sensor: Problem setup;
5.7 Assumptions of theoretical analysis and tuning of the navigation controller;
5.7.1 Tuning of the navigation controller;
5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposed navigation law;
5.8.1 Illustrative analysis of the convergence domain;
5.8.2 Proofs of Theorem 8.1 and Lemmas 8.1 and 8.2;
5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor

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