Path Planning of Cooperative Mobile Robots Using Discrete Event Models
暫譯: 使用離散事件模型的協作移動機器人路徑規劃

Mahulea, Cristian, Kloetzer, Marius, Gonzalez, Ramon

Path Planning of Cooperative Mobile Robots Using Discrete Event Models
  • 出版商: Wiley
  • 出版日期: 2020-01-09
  • 定價: $3,600
  • 售價: 9.5 折 $3,420
  • 語言: 英文
  • 頁數: 240
  • 裝訂: Hardcover - also called cloth, retail trade, or trade
  • ISBN: 1119486327
  • ISBN-13: 9781119486329
  • 相關分類: 機器人製作 Robots

    • 立即出貨 (庫存=1)

買這商品的人也買了...

商品描述

Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles

Generating feasible paths or routes between a given starting position and a goal or target position--while avoiding obstacles--is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models--mainly Finite State Automata (FSA) and Petri Nets (PN)--and methods for centralized path planning and control of teams of identical mobile robots.

Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions.

Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also:

  • Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms
  • Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox)
  • Includes simulations for problems solved by methodologies presented in the book

Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.

商品描述(中文翻譯)

提供基於離散事件系統原則的合作移動機器人路徑規劃與運動控制的綜合介紹

在給定的起始位置和目標位置之間生成可行的路徑或路線——同時避免障礙物——是所有移動機器人面臨的共同問題。本書通過使用離散事件系統的範式來形成合作移動機器人的路徑規劃問題。它介紹了讀者需要了解的有關離散事件系統模型的所有內容——主要是有限狀態自動機（Finite State Automata, FSA）和佩特里網（Petri Nets, PN）——以及對於一組相同移動機器人的集中路徑規劃和控制的方法。

使用離散事件模型的合作移動機器人路徑規劃首先簡要定義了路徑規劃和運動控制問題及其最新進展。接著介紹了不同類型的離散模型，如FSA和PN。隨後描述了RMTool MATLAB工具箱，供需要在最後一部分進行數值實驗的讀者使用。本書還討論了單元分解方法，並展示了如何通過為每個單元分配一個離散狀態來將劃分的環境轉換為FSA，而相鄰關係以及機器人的動態則暗示了離散轉換。

本書強調布爾邏輯、線性時間邏輯、單元分解、有限狀態自動機建模和佩特里網的好處，並且：


  • 基於離散事件系統（Discrete Event Systems, DES）合成自動策略以進行路徑規劃和運動控制，並提供相關算法的軟體實現

  • 提供運動規劃入門課程或相關基於模擬的項目的教程，使用名為RMTool（機器人運動工具箱）的MATLAB套件

  • 包括本書中所提出的方法解決的問題的模擬

使用離散事件模型的合作移動機器人路徑規劃是一本理想的書籍，適合機器人學、人工智慧、系統建模和自主控制領域的本科生、研究生以及大學教授。

作者簡介

CRISTIAN MAHULEA, PHD, has participated in the development and implementation of Petri Net Toolbox and SimHPN, two MATLAB software for simulation, analysis and synthesis of discrete-event systems modeled with Petri Nets. His research interests include discrete event systems, hybrid systems, automated manufacturing, Petri nets, mobile robotics and healthcare systems. He participated in the development of RMTool, a collection of tools for modeling, path planning and motion control of mobile robots.

MARIUS KLOETZER, PHD, developed two laboratory robotic platforms (at Boston University, USA, and at Technical University of Iasi, Romania) for facilitating real time experiments based on the proposed formal solutions. He is also participating in the development and extension of RMTool software package. His research interests include planning of mobile robots based on discrete abstractions and expressive specifications.

RAMÓN GONZÁLEZ, PHD, is the founder and CEO of robonity, an MIT innovation-driven startup. Ramon is an authority on robotics and engineering whose skills have been demonstrated in some of the most important engineering centers in the world including a 3-year research position at the MIT Robotic Mobility Group. He has received several awards including the Medal of the Royal Academy of Engineering of Spain and the Medal of Andalucia (first in history to an engineer in robotics). He holds a PhD in robotics and an engineering degree in computer science by the University of Almeria (Spain) and a certificate in accounting and finance by the Imperial College Business School (UK).

作者簡介(中文翻譯)

CRISTIAN MAHULEA, PHD, 參與了 Petri Net Toolbox 和 SimHPN 的開發與實施，這是兩個用於模擬、分析和合成以 Petri 網為模型的離散事件系統的 MATLAB 軟體。他的研究興趣包括離散事件系統、混合系統、自動化製造、Petri 網、移動機器人和醫療系統。他參與了 RMTool 的開發，這是一組用於建模、路徑規劃和移動機器人運動控制的工具。

MARIUS KLOETZER, PHD, 在美國波士頓大學和羅馬尼亞雅西技術大學開發了兩個實驗室機器人平台，以促進基於所提出的正式解決方案的實時實驗。他還參與了 RMTool 軟體包的開發和擴展。他的研究興趣包括基於離散抽象和表達性規範的移動機器人規劃。

RAMÓN GONZÁLEZ, PHD, 是 robonity 的創始人兼首席執行官，這是一家以麻省理工學院創新為驅動的初創公司。Ramon 是機器人技術和工程方面的權威，他的技能在世界上一些最重要的工程中心得到了證明，包括在麻省理工學院機器人移動小組的三年研究職位。他獲得了多個獎項，包括西班牙皇家工程院獎章和安達盧西亞獎章（歷史上第一位獲得該獎的機器人工程師）。他擁有機器人學博士學位和西班牙阿爾梅里亞大學的計算機科學工程學位，以及英國帝國學院商學院的會計與金融證書。

類似商品