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Synopsis

An important feature of this book is the particular combination oftopics included. These are (1) control, (2) navigation and (3)remote sensing, all with application to mobile robots. Much of thematerial is readily extended to any type ground vehicle.

In the controls area, robot steering is the issue. Both linearand nonlinear models are treated. Various control schemes areutilized, and through these applications the reader is introducedto methods such as: (1) Linearization and use of linear controldesign methods for control about a reference trajectory,  (2)Use of Lyapunov stability theory for nonlinear controldesign,  (3) Derivation of optimal control strategies viaPontryagin’s maximum principle,  (4) Derivation of alocal coordinate system which is fundamental for the steering ofvehicles along a path never before traversed. This local coordinatesystem has application regardless of the control design methodsutilized.

 In the navigation area, various coordinate systems areintroduced, and the transformations among them are derived. (1) TheGlobal Positioning System (GPS) is introduced and described insignificant detail. (2) Also introduced and discussed are inertialnavigation systems (INS). These two methods are treated in terms oftheir ability to provide vehicle position as well as attitude. Apreceding chapter is devoted to coordinate rotations andtransformations since they play an important role in theunderstanding of this body of theory.

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