электроника

In order to enable a better understanding of the key concepts of automation, this book develops the fundamental aspects of the field while also proposing numerous concrete exercises and their solutions. The theoretical approach that it presents fundamentally uses the state space and makes it possible to process general and complex systems in a simple way, involving several switches and sensors of different types. This approach requires the use of developed theoretical tools such as linear algebra, analysis and physics, generally taught in preparatory classes for specialist engineering courses.


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Automation for Robotics

Mobile Robotics presents the different tools and methods that enable the design of mobile robots; a discipline booming with the emergence of flying drones, underwater mine-detector robots, robot sailboats and vacuum cleaners. Illustrated with simulations, exercises and examples, this book describes the fundamentals of modeling robots, developing the concepts of actuators, sensors, control and guidance. Three-dimensional simulation tools are also explored, as well as the theoretical basis for the reliable localization of robots within their environment. This revised and updated edition contains additional exercises and a completely new chapter on the Bayes filter, an observer that enhances our understanding of the Kalman filter and facilitates certain proofs.


документальная литература

Mobile Robotics

Localization for underwater robots remains a challenging issue. Typical sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply Simultaneous Localization and Mapping (SLAM) methods to perform localization. Reliable Robot Localization presents an innovative new method which can be characterized as a raw-data SLAM approach. It differs from extant methods by considering time as a standard variable to be estimated, thus raising new opportunities for state estimation, so far underexploited. However, such temporal resolution is not straightforward and requires a set of theoretical tools in order to achieve the main purpose of localization. This book not only presents original contributions to the field of mobile robotics, it also offers new perspectives on constraint programming and set-membership approaches. It provides a reliable contractor programming framework in order to build solvers for dynamical systems. This set of tools is illustrated throughout this book with realistic robotic applications.


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Reliable Robot Localization

Без серии

Luc Jaulin