LEADER 05314nam 2200553 450 001 9910830767503321 005 20231110222905.0 010 $a1-119-81241-0 010 $a1-119-81239-9 035 $a(MiAaPQ)EBC7069545 035 $a(Au-PeEL)EBL7069545 035 $a(CKB)24342152400041 035 $a(PPN)267629125 035 $a(EXLCZ)9924342152400041 100 $a20230107d2022 uy 0 101 0 $aeng 135 $aurcnu|||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aEmbedded control for mobile robotic applications /$fLeena Vachhani, Pranjal Vyas, Arunkumar G. K 210 1$aPiscataway, New Jersey ;$aHoboken, New Jersey :$cIEEE Press :$cWiley,$d[2022] 210 4$dİ2022 215 $a1 online resource (179 pages) 225 1 $aIEEE Press Series on Control Systems Theory and Applications 311 08$aPrint version: Vachhani, Leena Embedded Control for Mobile Robotic Applications Newark : John Wiley & Sons, Incorporated,c2022 9781119812388 320 $aIncludes bibliographical references and index. 327 $aCover -- Title Page -- Copyright -- Contents -- Preface -- Acknowledgments -- Acronyms -- Introduction -- About the Companion Website -- Chapter 1 Embedded Technology for Mobile Robotics -- 1.1 Embedded Control System -- 1.2 Mobile Robotics -- 1.2.1 Robot Model for 2D Motion -- 1.2.1.1 Generic Model -- 1.2.1.2 Unicycle Model -- 1.2.1.3 Differential?Drive Mobile Robot or DDMR -- 1.2.1.4 Front Wheel Steering Robot or FWSR -- 1.2.1.5 Chained form of Unicycle -- 1.2.1.6 Single Integrator Model of Unicycle -- 1.2.1.7 Discrete?time Unicycle Model -- 1.2.2 Robot Model for 3D Motion -- 1.2.2.1 Quadcopter?-?An Aerial Vehicle -- 1.2.2.2 Six?Thrusters Configuration?-?An Underwater Vehicle -- 1.3 Embedded Technology -- 1.3.1 Processor Technology -- 1.3.2 IC Technology -- 1.4 Commercially Available Embedded Processors -- 1.4.1 Microprocessor -- 1.4.2 Microcontroller -- 1.4.3 Field Programmable Gate Arrays (FPGA) -- 1.4.4 Digital Signal Processor -- 1.5 Notes and Further Readings -- Chapter 2 Discrete?time Controller Design -- 2.1 Transfer Function for Equivalent Discrete?time System -- 2.2 Discrete?time PID Controller Design -- 2.3 Stability in Embedded Implementation -- 2.3.1 Sampling -- 2.3.2 Quantization -- 2.3.3 Processing Time -- 2.4 Notes and Further Readings -- Chapter 3 Embedded Control and Robotics -- 3.1 Transformations -- 3.1.1 2D Transformations -- 3.1.2 3D Transformations -- 3.2 Collision Detection and Avoidance -- 3.2.1 Vector Field Histogram (VFH) -- 3.2.2 Curvature Velocity Technique (CVM) -- 3.2.3 Dynamic Window Approach (DWA) -- 3.3 Localization -- 3.4 Path Planning -- 3.4.1 Potential Field Path Planning -- 3.4.2 Graph?based Path Planning -- 3.4.2.1 Dijkstra's Algorithm -- 3.4.2.2 A* Algorithm -- 3.4.2.3 Rapidly?exploring Random Trees (RRT) Algorithm -- 3.5 Multi?agent Scenarios -- 3.6 Notes and Further Readings -- Chapter 4 Bottom?up Method. 327 $a4.1 Computations Using CORDIC1 -- 4.1.1 Coordinate Transformation -- 4.1.1.1 Cartesian to Polar Coordinates Conversion -- 4.1.1.2 Polar to Cartesian Coordinate Conversion -- 4.1.2 Exponential and Logarithmic Functions -- 4.2 Interval Arithmetic2 -- 4.2.1 Basics of Interval Arithmetic -- 4.2.2 Inclusion Function and Inclusion Tests -- 4.3 Collision Detection Using Interval Technique3 -- 4.4 Free Interval Computation for Collision Avoidance4 -- 4.4.1 Illustration for Detecting Collision and Computing Free interval -- 4.5 Notes for Further Reading -- Chapter 5 Top?Down Method -- 5.1 Robust Controller Design -- 5.1.1 Basic Definitions -- 5.1.2 State Feedback Control -- 5.1.3 Sliding?Mode Control -- 5.1.4 Sliding Surface Design for Position Stabilization in 2D -- 5.1.5 Position Stabilization for a Vehicle in 3D -- 5.1.6 Embedded Implementation -- 5.2 Switched Nonlinear System -- 5.2.1 Swarm Aggregation as a Switched Nonlinear System -- 5.2.1.1 Free Subsystem s1 -- 5.2.1.2 Engaged Subsystem s2 -- 5.2.2 Embedded Implementation -- 5.3 Notes and Further Readings -- Chapter 6 Generic FPGA Architecture Design -- 6.1 FPGA Basics and Verilog -- 6.2 Systematic Approach for Designing Architecture Using FSM -- 6.2.1 PID Controller Architecture -- 6.2.2 Sliding?Mode Controller Architecture -- 6.3 FPGA Implementation -- 6.4 Parallel Implementation of Multiple Controllers -- 6.5 Notes and Further Readings -- Chapter 7 Summary -- Bibliography -- Index -- Books in the IEEE Press Series on Control SystemsTheory and Applications -- EULA. 410 0$aIEEE Press Series on Control Systems Theory and Applications 606 $aRobotics 606 $aElectronic controllers 606 $aEmbedded computer systems 606 $aField programmable gate arrays 615 0$aRobotics. 615 0$aElectronic controllers. 615 0$aEmbedded computer systems. 615 0$aField programmable gate arrays. 676 $a629.892 700 $aVachhani$b Leena$01607761 702 $aVyas$b Pranjal 702 $aG. K$b Arunkumar 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910830767503321 996 $aEmbedded control for mobile robotic applications$93934168 997 $aUNINA