Introduction
7.2 Regions of Confidence for Sensors
7.3 Model of Target Location
7.4 Inventory of Detected Targets
Exercises
References
12 8 Obstacle Mapping and Its Application to Robot Navigation 8.1 Introduction 8.2 Sensors for Obstacle Detection and Geo‐Registration 8.3 Dead Reckoning Navigation 8.4 Use of Previously Detected Obstacles for Navigation 8.5 Simultaneous Corrections of Coordinates of Detected Obstacles and of the Robot Exercises References
13 9 Operating a Robotic Manipulator 9.1 Introduction 9.2 Forward Kinematic Equations 9.3 Path Specification in Joint Space 9.4 Inverse Kinematic Equations 9.5 Path Specification in Cartesian Space 9.6 Velocity Relationships 9.7 Forces and Torques Exercises References
14 10 Remote Sensing via UAVs 10.1 Introduction 10.2 Mounting of Sensors 10.3 Resolution of Sensors 10.4 Precision of Vehicle Instrumentation 10.5 Overall Geo‐Registration Precision Exercise References
15 11 Dynamics Modeling of AUVs 11.1 Introduction 11.2 Motivation 11.3 Full Dynamic Model 11.4 Hydrodynamic Model 11.5 Reduced‐Order Longitudinal Dynamics 11.6 Computation of Steady Gliding Path in the Longitudinal Plane 11.7 Scaling Analysis 11.8 Spiraling Dynamics 11.9 Computation of Spiral Path Exercises References
16 12 Control of AUVs 12.1 Introduction 12.2 Longitudinal Gliding Stabilization 12.3 Yaw Angle Regulation 12.4 Spiral Path Tracking Exercises References
17 Appendix A: Demonstrations of Undergraduate Student Robotic ProjectsDemonstrations of Undergraduate Student Robotic Projects A.1 Introduction A.2 Demonstration of the GEONAVOD Robot A.3 Demonstration of the Automatic Balancing Robotic Bicycle (ABRB)
18 Index
List of Tables
1 Chapter 4Table 4.1 Convergence of coordinates as a function of iteration number. Newto...Table 4.2 Convergence of coordinates as a function of iteration number. Perfo...
2 Chapter 7Table 7.1 Typical values of gamma from chi‐square tables.Table 7.2 Inventory with a single target in the field of view of sensor.Table 7.3 Inventory with two targets in the field of view of sensor.
3 Chapter 8Table 8.1a First set of covariances for above example.Table 8.1b Estimates of obstacle location and robot location before and after...Table 8.2a Second set of covariances for above example.Table 8.2b Estimates of obstacle location and robot location before and after...
4 Chapter 11Table 11.1 Computed steady gliding path under different values of the center ...Table 11.2 Computed steady gliding path under different values of the center ...Table 11.3 Computed steady gliding path for the scaled models of the larger w...Table 11.4 Parameters of the miniature underwater glider used in the steady‐s...Table 11.5 Computed spiraling steady states through Newton's method.
5 Chapter 12Table 12.1 System parameters used in simulation.
List of Illustrations
1 Chapter 1Figure 1.1 Schematic diagram of the front‐wheel steered robot.Figure 1.2 Schematic diagram of differential‐drive robot.
2 Chapter 2Figure 2.1 α versus (ψ des − ψ) for α = K(ψ des − ψ...Figure 2.2 α versus (ψ des − ψ) for α =
