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Mobile Intelligent Autonomous Systems PDF

813 Pages·2012·60.025 MB·English
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R ENGINEERING a o l Mobile Intelligent • G o Autonomous Systems p a l “This edited collection brings forth a variety of state-of-the-art research A results in areas relevant to mobile intelligent systems such as UAVs and robots. ... This book will greatly benefit robotics researchers and developers as a u  Mobile  go-to source for understanding the myriad topics related to incorporation of M autonomy in mobile intelligent systems.” t —Aman Behal, University of Central Florida, USA o o      Intelligent   n Going beyond the traditional field of robotics to include other mobile vehicles, b Mobile Intelligent Autonomous Systems describes important theoretical o concepts, techniques, approaches, and applications that can be used to build i truly mobile intelligent autonomous systems (MIAS). It offers a comprehensive l Autonomous   m treatment of robotics and MIAS, as well as related disciplines, helping readers e understand the subject from a system-theoretic and practical point of view. Organized into three sections, the book progresses from conceptual foundations o I to MIAS and robotics systems and then examines allied technologies. With an          Systems n u emphasis on recent research and developments, experts from various fields cover key aspects of this rapidly emerging area, including: t s e • Path and motion planning • Obstacle avoidance in a dynamic environment S l • Direct biological-brain control of a mobile robot l • Sensor and image data fusion yi • Autonomous decision making and behavior modeling in robots g s • Hydro-MiNa robot technology/Adaptive algorithms for smart antennas • Control methods for autonomous micro-air vehicles e t • Neuro-fuzzy fault-tolerant auto-landing for aircraft H-infinity filter based e n simultaneous localization and mapping m t Where relevant, concepts and theories are illustrated with block/flow diagrams and numerical simulations in MATLAB®. An integrated exploration of the theory and practice of MIAS and robotics, this is a valuable reference and recipe book s E D I T E D B Y for research and industry. Jitendra R. Raol • Ajith K. Gopal K12925 ISBN: 978-1-4398-6300-8 90000 9 781439 863008 K12925_Cover_mech.indd 1 7/10/12 8:59 AM E D I T E D B Y Jitendra R. Raol • Ajith K. Gopal Boca Raton London New York CRC Press is an imprint of the Taylor & Francis Group, an informa business MATLAB® is a trademark of The MathWorks, Inc. and is used with permission. The MathWorks does not warrant the accuracy of the text or exercises in this book. This book’s use or discussion of MATLAB® software or related products does not consti- tute endorsement or sponsorship by The MathWorks of a particular pedagogical approach or particular use of the MATLAB® software. CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2013 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S. Government works Version Date: 20120612 International Standard Book Number-13: 978-1-4398-6301-5 (eBook - PDF) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright holders of all material repro- duced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint. Except as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www.copyright.com (http://www.copy- right.com/) or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identifica- tion and explanation without intent to infringe. Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com This book is dedicated in loving memory to Professor Dr. Naresh Kumar Sinha (McMaster University, Hamilton, Ontario, Canada) for his life-long contributions to Control Systems—Theory & Practice Contents Preface...............................................................................................................................................xi Acknowledgements.........................................................................................................................xiii Editors...............................................................................................................................................xv Contributors....................................................................................................................................xvii Introduction......................................................................................................................................xxi Part I Conceptual Foundations for MIaS Chapter 1 Neuro-Fuzzy–GA–AI.Paradigms.................................................................................3 Jitendra R. Raol Chapter 2 Mathematical.Models.of Robot Motion......................................................................31 A. Ramachandran Chapter 3 Data.Fusion.in.Mobile Intelligent.Autonomous Systems............................................43 Ajith K. Gopal Chapter 4 Image.Registration.and.Fusion....................................................................................53 A. N. Myna Chapter 5 Multi-Sensor.Image.Fusion Using.Discrete.Cosine Transform..................................83 V. P. S. Naidu Chapter 6 Motion.Segmentation.Using.Spectral.Framework......................................................99 M. R. Kaimal and R. Vrinthavani Chapter 7 Formation.Control.in.Multi-Agent.Systems.over.Packet.Dropping.Links................113 S. Seshadhri and R. Ayyagari Part II MIaS and robotics Chapter 8 Robot’s.Sensors.and.Instrumentation........................................................................129 A. Ramachandran vii viii Contents Chapter 9 Robot.Navigation.and Guidance...............................................................................141 Jitendra R. Raol Chapter 10 Robot.Path.and.Motion Planning..............................................................................151 Jitendra R. Raol Chapter 11 Out-of-Sequence.Measurements:.Missing.Data Problem.........................................171 Bhekisipho Twala Chapter 12 Robotic.Path-Planning.in.Dynamic.and.Uncertain.Environment.Using. Genetic Algorithm.....................................................................................................189 G. K. Singh and Ajith K. Gopal Chapter 13 Temporal.Logic.Motion.Planning.in.Robotics..........................................................199 Motlatsi Seotsanyana Chapter 14 A.Constraint.Programming.Solution.for.the.Military.Unit.Path. Finding.Problem...................................................................................................225 Louise Leenen, Alexander Terlunen and Herman le Roux Chapter 15 Simultaneous.Localization.and.Mapping.for.a.Mobile.Vehicle................................241 Jitendra R. Raol Chapter 16 Robotic.and.Moving.Vehicle.Architectures..............................................................259 Jitendra R. Raol Chapter 17 Multi-Robot.Coordination.........................................................................................271 Isaac O. Osunmakinde Chapter 18 Autonomous.Mobile.Robot.with.a.Biological.Brain.................................................281 Kevin Warwick, Dimitris Xydas, Slawomir J. Nasuto, Victor M. Becerra, Mark W. Hammond, Julia H. Downes, Simon Marshall and Benjamin J. Whalley Chapter 19 Safe.and.Effective.Autonomous.Decision.Making.in.Mobile.Robots......................295 Rahee Walambe Chapter 20 Partially.Integrated.Guidance.and.Control.of.Unmanned.Aerial.Vehicles.for. Reactive.Obstacle.Avoidance....................................................................................357 Radhakant Padhi and Charu Chawla

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