Mobile Robotics: Mathematics, Models, and Methods
Cambridge University Press, 11/11/2013
EAN 9781107031159, ISBN10: 110703115X
Hardcover, 716 pages, 25.7 x 18.5 x 3.8 cm
Language: English
Mobile Robotics offers comprehensive coverage of the essentials of the field suitable for both students and practitioners. Adapted from Alonzo Kelly's graduate and undergraduate courses, the content of the book reflects current approaches to developing effective mobile robots. Professor Kelly adapts principles and techniques from the fields of mathematics, physics and numerical methods to present a consistent framework in a notation that facilitates learning and highlights relationships between topics. This text was developed specifically to be accessible to senior level undergraduates in engineering and computer science, and includes supporting exercises to reinforce the lessons of each section. Practitioners will value Kelly's perspectives on practical applications of these principles. Complex subjects are reduced to implementable algorithms extracted from real systems wherever possible, to enhance the real-world relevance of the text.
1. Introduction
2. Math fundamentals
3. Numerical methods
4. Dynamics
5. Optimal estimation
6. State estimation
7. Control
8. Perception
9. Localization and mapping
10. Motion planning.