Mobile Robot: Motion Control and Path Planning

Azar, Ahmad Taher, Kasim Ibraheem, Ibraheem, Jaleel Humaidi, Amjad

Mobile Robot: Motion Control and Path Planning
  • 出版商: Springer
  • 出版日期: 2024-07-02
  • 售價: $8,630
  • 貴賓價: 9.5 折 $8,199
  • 語言: 英文
  • 頁數: 670
  • 裝訂: Quality Paper - also called trade paper
  • ISBN: 3031265661
  • ISBN-13: 9783031265662
  • 相關分類: 機器人製作 Robots

    • 海外代購書籍(需單獨結帳)

商品描述

This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning.As a result, safe pathways for high-dimensional systems must be developed in a timely manner.

Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human-robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners.

For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.

商品描述(中文翻譯)

本書介紹了線性和非線性控制技術的最新研究進展。從理論和實踐的角度來看，運動規劃及相關的控制挑戰是機器人技術的關鍵部分。事實上，關於幾何路徑規劃和基於時間的軌跡生成的文獻，考慮到這些路徑和軌跡與機械手臂或移動車輛的運動學和動力學約束的相容性，內容廣泛且歷史參考豐富。路徑規劃對於許多不同類型的機器人至關重要，包括自主車輛、多機器人系統和機器手臂。在多機器人路徑規劃的情況下，產生一條安全的路徑以避免與物體或其他機器人發生碰撞是至關重要的。在為空中或水下機器人設計安全路徑時，必須考慮三維環境。隨著機器手臂自由度的增加，路徑規劃的難度也隨之增加。因此，必須及時為高維系統開發安全路徑。

儘管如此，現代機器人應用，特別是那些需要一個或多個機器人在動態環境中運作的應用（例如，人機協作和物理互動、監控或使用移動代理探索未知空間等），對研究人員和實踐者提出了新的且令人興奮的挑戰。

例如，在動態環境中規劃機器人的運動需要實時和在線執行複雜的計算操作。因此，為這些實時計算開發高效解決方案，這可能通過專門設計的計算架構、優化算法和其他獨特貢獻來實現，是推進當前和未來機器人技術的重要一步。

作者簡介

Prof. Ahmad Azar is a research professor at Prince Sultan University, Riyadh, Kingdom Saudi Arabia, and an associate director of research and initiative center. He is a lab leader of Automated Systems and Soft Computing Lab (ASSCL) at Prince Sultan University, Riyadh, Saudi Arabia. He is also a professor at the Faculty of Computers and Artificial intelligence, Benha University, Egypt. He is currently an associate editor for IEEE Systems Journal, IEEE Transactions on Neural Networks and Learning Systems, Springer's Human-centric Computing and Information Sciences, and Elsevier's Engineering Applications of Artificial Intelligence. Prof. Azar has expertise in control theory and applications, robotics, process control, artificial intelligence, machine learning, and dynamic system modeling.

He has received various awards, including the Benha University Prize for Scientific Excellence (2015, 2016, 2017, and 2018) and the Benha University Highest Citation Award (2015,2016, 2017, and 2018). In June 2018, Prof. Azar received the Egyptian State Encouragement Award in Engineering Sciences from the Ministry of Higher Education and Scientific Research. In August 2018, he was chosen as a senior member of the International Rough Set Society (IRSS). Prof. Azar was named one of the top computer scientists in Saudi Arabia by Guide2Research in December 2019. Prof. Azar received the Egyptian President's Distinguished Egyptian Order of the First Class in February 2020. In October 2020, Prof. Azar was awarded Abdul Hameed Shoman Arab Researchers Award in machine learning and big data analytics. In October 2020 and October 2021, Prof. Azar was selected as a distinguished researcher at Prince Sultan University, Riyadh, Saudi Arabia. In November 2020, October 2021, and October 2022, Prof. Azar was named one of the top 2% of scientists in the world in artificial intelligence by Stanford University. Stanford University published these numbers in the PLOS journal and based them on the SCOPUS database.

Prof. Ibraheem K. Ibraheem was born in Baghdad, Iraq, in 1976. He received the B.S. degree in electrical engineering from the University of Baghdad, Baghdad, Iraq, in 1998 and M.Sc. and Ph.D. degrees in computer and control engineering from the same university and department, in 2001 and 2007, respectively. In 2015, he visited High-Performance Computing Lab. in Ashburn, Virginia, at George Washington University, USA, for cooperative research on the hardware implementation of nonlinear control. In 2019, he became a professor of electrical engineering at the electrical engineering department, Baghdad University. His research interests include active disturbance rejection control, power control, robotics, signal processing, nonlinear control, and intelligent control applications.

Prof. Amjad Jaleel Humaidi received his B.Sc. and M. Sc. degrees in control engineering from Al-Rasheed College of Engineering and Science, the University of Technology, Baghdad, Iraq, in 1992 and 1997, respectively. He received his Ph.D. degree from University of Technology in 2006 with specialization of control and automation. He is presently a staff member in control and systems engineering department. His fields of interest include adaptive control, backstepping control, nonlinear control, nonlinear observers, active disturbance rejection control, intelligent control, optimization, identification, and real-time image processing. He published more than 100 papers in his field of specialization.

作者簡介(中文翻譯)

教授 Ahmad Azar 是沙烏地阿拉伯利雅德的王子蘇丹大學的研究教授，並擔任研究與倡議中心的副主任。他是王子蘇丹大學自動化系統與軟體計算實驗室（ASSCL）的實驗室負責人，同時也是埃及本哈大學計算機與人工智慧學院的教授。Azar 教授目前擔任 IEEE 系統期刊、IEEE 神經網路與學習系統期刊、Springer 的人本計算與資訊科學期刊，以及 Elsevier 的人工智慧工程應用期刊的副編輯。Azar 教授在控制理論及其應用、機器人技術、過程控制、人工智慧、機器學習和動態系統建模方面具有專業知識。

他獲得了多項獎項，包括本哈大學科學卓越獎（2015、2016、2017 和 2018 年）以及本哈大學最高引用獎（2015、2016、2017 和 2018 年）。在 2018 年 6 月，Azar 教授獲得了埃及高等教育與科學研究部頒發的工程科學國家鼓勵獎。2018 年 8 月，他被選為國際粗集社會（IRSS）的資深會員。2019 年 12 月，Azar 教授被 Guide2Research 評選為沙烏地阿拉伯頂尖計算機科學家之一。2020 年 2 月，Azar 教授獲得了埃及總統頒發的第一級傑出埃及獎勳。2020 年 10 月，Azar 教授獲得了 Abdul Hameed Shoman 阿拉伯研究者獎，專注於機器學習和大數據分析。在 2020 年 10 月和 2021 年 10 月，Azar 教授被選為沙烏地阿拉伯王子蘇丹大學的傑出研究人員。在 2020 年 11 月、2021 年 10 月和 2022 年 10 月，Azar 教授被史丹佛大學評選為全球人工智慧領域前 2% 的科學家。史丹佛大學在 PLOS 期刊上發表了這些數據，並基於 SCOPUS 數據庫進行評估。

教授 Ibraheem K. Ibraheem 於 1976 年出生於伊拉克巴格達。他於 1998 年在巴格達大學獲得電機工程學士學位，並於 2001 年和 2007 年在同一大學及系所獲得計算機與控制工程的碩士及博士學位。2015 年，他前往美國喬治華盛頓大學的高效能計算實驗室進行合作研究，專注於非線性控制的硬體實現。2019 年，他成為巴格達大學電機工程系的教授。他的研究興趣包括主動擾動拒絕控制、功率控制、機器人技術、信號處理、非線性控制和智能控制應用。

教授 Amjad Jaleel Humaidi 於 1992 年和 1997 年在伊拉克巴格達的技術大學阿拉希德工程與科學學院獲得控制工程的學士和碩士學位。他於 2006 年在技術大學獲得控制與自動化專業的博士學位。目前，他是控制與系統工程系的教職員。他的研究領域包括自適應控制、反向步驟控制、非線性控制、非線性觀測器、主動擾動拒絕控制、智能控制、優化、識別和即時影像處理。他在其專業領域發表了超過 100 篇論文。

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