Overview
- Addresses theoretical, scientific, and practical aspects of differential-drive wheeled nonholonomic mobile robots
- Provides mathematical modeling of the kinematics and dynamics of differential-drive wheeled nonholonomic mobile robots
- Presents the design, implementation, and performance of trajectory tracking control systems
- Proposes kinematic and dynamic trajectory control designs of differential-drive wheeled nonholonomic mobile robots
- Contains simulation and practical applications that enable the developer to use creativity and imagination to modify, alter, or redo control system designs in kinematic and dynamic scope
- Gives source code of the control system designs, both kinematic and dynamic
- Promotes to the related areas an instrument of pedagogical application
Part of the book series: Studies in Systems, Decision and Control (SSDC, volume 380)
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Table of contents (9 chapters)
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Front Matter
Keywords
About this book
Authors and Affiliations
About the authors
Nardênio Almeida Martins has completed M.Sc. in Electrical Engineering from the Federal University of Santa Catarina (1997) and Ph.D. in Automation and Systems Engineering from the Federal University of Santa Catarina (2010). He is currently an associate professor in the Department of Informatics and the Graduate Program in Computer Science at the State University of Maringá and a member of the research groups "Robotics" of the Department of Automation and Systems of the Federal University of Santa Catarina—Florianópolis Campus and the "Automation of Systems and Robotics Group" at the State University of Santa Catarina—Joinville Campus, working mainly on the following research topics in robotics: robot manipulators, joint space, operational space, wheeled mobile robots, trajectory tracking, adaptive control, robust control theory, neural networks, fuzzy logic, and Lyapunov stability theory.
Douglas Wildgrube Bertol has completed M.Sc. in Electrical Engineering from the FederalUniversity of Santa Catarina (2009) and Ph.D. in Automation and Systems Engineering from the Federal University of Santa Catarina (2015). He is currently an associate professor in the Department of Electrical Engineering and the Graduate Program in Electrical Engineering at the Universidade do Estado de Santa Catarina and a member of the Systems Automation and Robotics Research Group (GASR) at the same University, working mainly in subjects of applied robotics, mobile robots, trajectory tracking, sliding mode control theory, neural networks, fuzzy logic, and Lyapunov stability theory.Bibliographic Information
Book Title: Wheeled Mobile Robot Control
Book Subtitle: Theory, Simulation, and Experimentation
Authors: Nardênio Almeida Martins, Douglas Wildgrube Bertol
Series Title: Studies in Systems, Decision and Control
DOI: https://doi.org/10.1007/978-3-030-77912-2
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Switzerland AG 2022
Hardcover ISBN: 978-3-030-77911-5Published: 13 August 2021
Softcover ISBN: 978-3-030-77914-6Published: 14 August 2022
eBook ISBN: 978-3-030-77912-2Published: 12 August 2021
Series ISSN: 2198-4182
Series E-ISSN: 2198-4190
Edition Number: 1
Number of Pages: XX, 209
Number of Illustrations: 222 b/w illustrations, 5 illustrations in colour
Topics: Robotics and Automation, Artificial Intelligence, Vibration, Dynamical Systems, Control