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[null,"1.","Record Nr.",null,"UNINA9910830767503321"]
[null,null,"Autore",null,"Vachhani Leena"]
[null,null,"Titolo",null,"Embedded control for mobile robotic applications / / Leena Vachhani, Pranjal Vyas, Arunkumar G. K"]
[null,null,"Pubbl/distr/stampa",null,"Piscataway, New Jersey ; ; Hoboken, New Jersey : , : IEEE Press : , : Wiley, , [2022]"]
[{"$nulls":4},"©2022"]
[null,null,"ISBN",null,"1-119-81241-0"]
[{"$nulls":4},"1-119-81239-9"]
[null,null,"Descrizione fisica",null,"1 online resource (179 pages)"]
[null,null,"Collana",null,"IEEE Press Series on Control Systems Theory and Applications"]
[null,null,"Disciplina",null,"629.892"]
[null,null,"Soggetti",null,"Robotics"]
[{"$nulls":4},"Electronic controllers"]
[{"$nulls":4},"Embedded computer systems"]
[{"$nulls":4},"Field programmable gate arrays"]
[null,null,"Lingua di pubblicazione",null,"Inglese"]
[null,null,"Formato",null,"Materiale a stampa"]
[null,null,null,"Livello bibliografico","Monografia"]
[null,null,null,"Nota di bibliografia","Includes bibliographical references and index."]
[null,null,"Nota di contenuto",null,"Cover -- Title Page -- Copyright -- Contents -- Preface -- Acknowledgments -- Acronyms -- Introduction -- About the Companion Website -- Chapter 1 Embedded Technology for Mobile Robotics -- 1.1 Embedded Control System -- 1.2 Mobile Robotics -- 1.2.1 Robot Model for 2D Motion -- 1.2.1.1 Generic Model -- 1.2.1.2 Unicycle Model -- 1.2.1.3 Differential‐Drive Mobile Robot or DDMR -- 1.2.1.4 Front Wheel Steering Robot or FWSR -- 1.2.1.5 Chained form of Unicycle -- 1.2.1.6 Single Integrator Model of Unicycle -- 1.2.1.7 Discrete‐time Unicycle Model -- 1.2.2 Robot Model for 3D Motion -- 1.2.2.1 Quadcopter - An Aerial Vehicle -- 1.2.2.2 Six‐Thrusters Configuration - An Underwater Vehicle -- 1.3 Embedded Technology -- 1.3.1 Processor Technology -- 1.3.2 IC Technology -- 1.4 Commercially Available Embedded Processors -- 1.4.1 Microprocessor -- 1.4.2 Microcontroller -- 1.4.3 Field Programmable Gate Arrays (FPGA) -- 1.4.4 Digital Signal Processor -- 1.5 Notes and Further Readings -- Chapter 2 Discrete‐time Controller Design -- 2.1 Transfer Function for Equivalent Discrete‐time System -- 2.2 Discrete‐time PID Controller Design -- 2.3 Stability in Embedded Implementation -- 2.3.1 Sampling -- 2.3.2 Quantization -- 2.3.3 Processing Time -- 2.4 Notes and Further Readings -- Chapter 3 Embedded Control and Robotics -- "]
[{"$nulls":4},"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."]
[{"$nulls":4},"4.1 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."]