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商品コード: 9781498715584

Autonomous Vehicle Navigation

販売価格(税込): 11,553 円  (本体価格: 10,698 円+税)
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書名

Autonomous Vehicle Navigation: From Behavioral to Hybrid Multi-Controller Architectures
著者・編者Adouane, L.
出版社/発行元A K Peters/CRC Press
発行年/月2016年4月   
装丁Hardcover
ページ数/巻数 228 ページ
ISBN 978-1-4987-1558-4
発送予定海外倉庫よりお取り寄せ 2-3週間以内に発送します

Desciption

 

Autonomous Vehicle Navigation: From Behavioral to Hybrid Multi-Controller Architectures explores the use of multi-controller architectures in fully autonomous robot navigation?even in highly dynamic and cluttered environments. Accessible to researchers and graduate students involved in mobile robotics and fully autonomous vehicle navigation, the book presents novel techniques and concepts that address different complex mobile robot tasks.

The author examines the development of reliable elementary controllers and proposes mechanisms to manage the interaction of these multi-controller architectures while addressing different constraints and enhancing metrics/criteria linked to the safety, flexibility, and reliability of the proposed control architectures. He covers the modeling of subtasks, reliable obstacle avoidance, appropriate stable control laws for target reaching/tracking, short- and long-term trajectory/waypoint planning, navigation through sequential waypoints, and the cooperative control and interaction of a group of mobile robots. The author’s website provides MATLABR and SimulinkR source code of the main procedures related to the task modeling, planning, and control of mobile robots. It also includes videos showing the main simulations and experiments given in the text.

In addition to flexible and bottom-up construction, multi-controller architectures can be formally analyzed to achieve reliable navigation in complex environments. This book reveals innovative control architectures that can lead to fully autonomous vehicle navigation in these challenging situations.


Contents:

 

Global concepts/challenges related to the control of intelligent mobile robots
Autonomous navigation in cluttered environments
HybridCD (continuous/discrete) multi-controller architectures
HybridRC (reactive/cognitive) and homogeneous control architecture based on PELC
Flexible and reliable autonomous vehicle navigation using optimal waypoint configuration
Cooperative control of multi-robot systems
General conclusion and prospects

Appendix A: Simulation and experimental platforms
Appendix B: Stability in the sense of Lyapunov

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