Introduction to Mobile Robot Control

691 Pages·2014·45.251 MB·English

by  S.G. Tzafestas (Auth.)

Introduction to Mobile Robot Control
Introduction to Mobile
Robot Control
Spyros G. Tzafestas
SchoolofElectricalandComputerEngineering
NationalTechnicalUniversityofAthens
Athens,Greece
AMSTERDAM BOSTON HEIDELBERG LONDONNEWYORK OXFORD
(cid:1) (cid:1) (cid:1) (cid:1)
PARIS SANDIEGO SANFRANCISCO SINGAPORE SYDNEY TOKYO
(cid:1) (cid:1) (cid:1) (cid:1) (cid:1)
Elsevier
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Firstedition2014
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Dedication
TotheRoboticsTeacherandLearner
Forthethingswehavetolearnbeforewecandothem,welearnbydoingthem.
Aristotle
Thesecondmostimportantjobintheworld,secondonlytobeingaparent,isbeing
agoodteacher.
S.G.Ellis
Inlearningyouwillteach,andinteachingyouwilllearn.
PhilCollins
Preface
Robotics has been a dominant contributor to the development of the human society
over the years. It is a field that needs the synergy of a variety of scientific areas
such as mechanical engineering, electrical-electronic engineering, control engineer-
ing, computer engineering, sensor engineering, and others. Robots and other auto-
mated machines have to live together with people. In this symbiosis, human needs
and preferences should be predominantly respected, incorporated, and implemen-
ted. To this end, modern robots, especially wheeled or legged mobile robots, incor-
porate and realize in a purposeful and profitable way the perception(cid:1)action cycle
principle borrowed from biological systems and human cognitive and adaptation
capabilities.
The objective of this book is to present in a cohesive way a set of fundamental
conceptual and methodological elements, developed over the years for nonholo-
nomic and omnidirectional wheeled mobile robots. The core of the book (Chapters
5 through 10)is devotedtothe analysisand design ofseveral mobilerobot control-
lers that include basic Lyapunov-based controllers, invariant manifold(cid:1)based con-
trollers, affine model(cid:1)based controllers, model reference adaptive controllers,
sliding-mode and Lyapunov-based robust controllers, neural controllers, fuzzy-
logic controllers, vision-based controllers, and mobile manipulator controllers. The
topics of mobile robot drives, kinematics, dynamics, and sensing are covered in the
first four chapters. The topics of path planning, motion planning, task planning,
localization, and mapping are covered in Chapters 11 and 12, including most fun-
damental concepts and techniques at a detail compatible with the purpose and size
of the book. Chapter 13 provides a selection of experimental results obtained by
many of the methods studied in this book. These results were drawn from the
research literature and include some of the author’s results. Chapter 14 provides a
conceptual overview of some generic systemic and software architectures devel-
oped for implementing integrated intelligent control of mobile robots. Finally,
Chapter 15 provides a tour to the applications of mobile robots in the factory and
societyatanencyclopediclevel.
For the convenience of the reader, the first section of each chapter involves the
required mathematical, mechanics, control, and fixed-robot background concepts
that are used in the chapter. The book is actually complementary to most books in
the field, in the sense that it provides a solid model-based analysis and design of a
largerepertoryofmobilerobotcontrolschemes,notcoveredinotherbooks.
This book is suitable for seniorundergraduate andgraduate instructionalcourses
on general and mobile robotics. It can also be used as an introductory reference
xviii Preface
bookbyresearchersandpractitionersinthefieldthatneedaconsolidatedmethodo-
logicalsourcefortheirwork.
I am grateful to all publishers and authors for granting their permission to
includeinthebooktherequestedillustrationsandexperimentalplots.
Spyros.G.Tzafestas
Athens,April2013
List of acknowledged authors and
collaborators
The work on mobile robotics of the following researchers and collaborators, which
wasusedandcompiledforproducingthepresentbook,isacknowledged.
Authors
AbdelkaderH.H. EdwardsG. Mu¨hlenfeldA.
AdamsM.D. EngedyI. MuirP.F.
AdomA. EspiauB. MyersK.
AfsharA. EtteltE. NarayankarI.
Agu¨eroC. EuderdeE. NayarS.
AguilarL.T. EverettH.R. NesnasA.
AhmadabadiM.N. FetterLagesW. OkamotoJrJ.
AicardiM. FierroR. OlunloyoV.O.S
AlbusJ.S. FischerC. Oreba¨ckA.
AlsinaP.J. FourquetJ.Y. OrioloG.
Al-ZorkanyM. FraserG. OsmicN.
AmatoN. FuL.C. OstrowskiJ.P.
AndreffN. FukudaT. PadoisV.
AngJrM.H. Furtwa¨nglerR. PapadopoulosE.
AraujoA. GallinaP. PascoalA.
AraujoH. GangulyP. PetrinicT.
ArkinR.C. GansN.R. PetrovicI.
ArneyT. GarridoS. PimentaL.C.A.
AsheriadM. GasparettoA. PoulakakisJ.
AshoorizadM. GerkeyB. PourboghratF.
AsmoreM. GevaS. PuiuD.
AwadH.A. GeyerC. QianJ.
AyariI. GholipourA. RachidA.
AyomohM.K.O. GilioliM. RamaswamyP.S.A.
BaekS.H. GiordanoP.R. RekleitisI.
BaileyT. GordonN.J. ReyhanogluM.
BakerS. GrassiJrV. RivesP.
BalakrishnanS.N. GrassiJrY. RizonM.
BalestrinoA. GrigorescuS. RoyN.
GrosuV.
BarnesN. HagerG. Ruiz-Ayu`carJ.
BarretoJ.P. HandeckU.D. RuspiniE.
Bar-ShalomY. HemerlyE.M. Sablantno¨gS.
BarzaminiR. HongD. SafadiH.
xx Listofacknowledgedauthorsandcollaborators
BastinG. HorvathG. SaffiotiA.
BayarG. HowardA. SaichJ.
BeattleB. HuangC.I. SalmondD.J.
Bench-CaponT.J.M. HutchinsonS. SamsonC.
BianH.J. IvanjkoE. SaridisG.N.
BicchiA. IzumiK. SarkarN.
BlancoD. JarvisR.A. SatoK.
BolesW.W. JiangP. ScheutzM.
BonertM. Kalmar-NagyT. SchmidtD.C.
BorensteinJ. KarlssonM.P. SchmidtG.
BornstedtB. KerryM. SchneiderS.
BretlT. KhatibO. SchollK.U.
BrightG. KimB.M SelmicR.
BrooksR.A. KimJ.H SethianJ.A.
BrunY. KimM. ShaveM.J.R.
BussM. KimotoK. SheuP.G.Y.
ByrneJ.C. KokuA.B SidekN.
CampionG. KonoligeK. SimmonsR.
CamposJ. KonuksevenE.I. SmithA.F.M.
Can˜asJ.M. KorenY. SoetantoD.
CardenasS. KraetzschmarG. SoriaC.M.
CarreliR. KragicD. SouthallB.
SpinuV.
CasalinoG. KramerJ. SpletzerJ.
CastilloO. Kru¨gerD. SteinbauerG.
CeyerC.M. KumarV. SuJ.
ChangC.F. KunitakeY. SugaY.
ChangK.C. LacevicB. TadijneM.
ChattiA. LaengleT. TangJ.
ChaumetteF. LagesW.F. TayebiA.
ChenY. LapierreL. TaylorC.J.
CherubiniA. LatombeJ.C. TaylorT.
ChirikjianG.S. LavalleS.M. ThrunS.
ChironP. LeeS. TianY.
ChoiY.H. LeeT.K. TsakirisD.
ChongC.Y. LeonardJ.L. TsiotrasP.
ChristensenH.L. LewisF.L. UllmanM.
ChungJ.H. LiangS. UtzH.
ChungW. LiangZ. VelagicJ.
CociasT. LietmannT. VidalCallejaT.A.
CoenenF.P. LimsoonthrakulS. WangC.
CorkeP. Lindstro¨mM. WangL.C.
Coste-Manie`reE. Lozano-PerezT. WangY.
CoteC. LuethT.C. WotawaA.
CuerraP.N. MaJ. XieW.
CwaD. MacesanuG. XueQ
D’andreaR. MaeyamaS. YacacobS.
D’andrea-NovelB. MamatM. YamamotoT.
DaileyM.N. MartinF. YamamotoY.
Listofacknowledgedauthorsandcollaborators xxi
DaniilidisK. MartinetP. YangF.
DasA.K Matella´nV. YangJ.M
DasT. MedeirosA.A.D. YangM.
DeOliveiraV.M. MehrandezhM. YaughamR.
DePieriE.R. MelchioriG. YongL.S.
DehgamS.M. MeystelA.M. YoumY.
DeLucaA. MezouarY. YunX.
DeVilliersM. MicaelliA. YutaS.
ZefranM.
DeVonD. MiliosE. ZelinskyA.
DiazB.M. MoldoveanuF. ZhangQ.
DingF.G. MontemerloM. ZhangY.
DorofteiI.
DuJ. MoralesB. ZouzdaniJ.
DudekG. MorenoL.
Durrant-WhyteH.F. MoretE.N.
Collaborators
DeliparaschosK.M. MoustrisG. TangJ.
FukudaT. RigatosG. TzafestasC.S.
SgourosN.M.
KatevasN. ShiraishiY. TzafestasE.S.
KrikochoritisT. SkoundrianosE. WatanabeK.
MelfiA. StamouG. ZavlangasP.
Principal symbols and acronyms
t;k Continuous,discretetime
l;s;D;d Lineardistance(length)
p;d;x Positionvector
R Rotationmatrix
R ;R ;R Rotationmatrixw.r.t.axisx;y;z
x y z
n;o;a Normal,orientation,andapproachunitvectors
A;Τ Homogeneousð434Þmatrix
q Generalizedvariable(linear,angular)
v;υ Linearvelocityvector
ω;θ_ Angularvelocityvector
JðqÞ Jacobianmatrix
J21ðqÞ InverseofJðqÞ
JyðqÞ Generalizedinverse(pseudoinverse)ofJðqÞ
D(cid:2)H Denavit(cid:2)Hartenberg
detð(cid:3)Þ Determinant
F;τ;ðNÞ Force,torquevector
L Lagrangianfunction
K;P Kineticenergyandpotentialenergy
DðqÞ Inertialmatrix
gðqÞ Gravityterm
HRI Human(cid:2)robotinterface
GHRI Graphicalhuman(cid:2)robotinterface
IC Intelligentcontrol
ICA Intelligentcontrolarchitecture
NL Naturallanguage
NL-HRI NaturallanguageHRI
UI Userinterface
Cðq;q_Þq_ Centrifugal/Coriolisterm
Oxyz Coordinateframe
WMR Wheeledmobilerobot
MM Mobilemanipulator
LS Least squares
φ;ψ WMRdirection,steeringangles
DOF Degreeoffreedom
COG Centerofgravity
COM Centerofmass
MðqÞ Nonholonomicconstraint