Robotics Research Technical Report (Classic Reprint)
Language: English
Published by Forgotten Books, 2018
- Softcover
- New
Seller: Forgotten Books, London, United KingdomForgotten Books
AbeBooks seller since June 2, 2021
Condition: New
US$ 17.75
Quantity: Over 20 available
Add to basketItem description from seller
Print on Demand. This book introduces a new algorithm for designing feedback solutions for controlling nonholonomic systems — a class of systems that arise when modeling the motion of robotic systems. The algorithm designs solutions using time-periodic feedback, a method that gives controllers that are robust to uncertainties in the system's behavior. Prior to this algorithm, the design of such controllers was a complex task, as it required the use of advanced Fourier analysis techniques and was only possible for a specialized class of nonholonomic systems known as chained systems. The author presents their approach in a clear, understandable way, and provides many examples that guide the reader through its implementation. This book is an essential resource for anyone working on the control of nonholonomic systems, and it will also be of interest to researchers in the broader field of control theory. This book is a reproduction of an important historical work, digitally reconstructed using state-of-the-art technology to preserve the original format. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in the book.…
Seller Inventory # 9781332196951_0
- Title
- Robotics Research Technical Report (Classic Reprint)
- Author
- L. Gurvits, Z. Li
- Publisher
- Forgotten Books
- Publication year
- 2018
- Condition
- New
- Book Type
- print-on-demand item
- Binding
- Paperback
- Language
- English
- ISBN 10
- 1332196950
- ISBN 13
- 9781332196951
- Seller catalogs
- Calculus
Explore practical ways to steer complex robots safely and smoothly.
This technical report introduces a time‑periodic feedback approach to nonholonomic motion planning, offering robust, collision‑free paths that work in real time. With averaging techniques and a constructive algorithm, it connects theory to implementable steps for real robotic systems.
Nonholonomic constraints can complicate motion planning. The work outlines a four‑step feedback algorithm, starting from collision‑free holonomic paths and ending with time‑periodic controls that remain robust to modeling and sensing errors. It blends geometric insight with practical guidance, including examples and generalizations to higher‑order systems.What you’ll find inside
- A step‑by‑step algorithm to compute smooth, collision‑free controls for nonholonomic robots
- How averaging techniques yield tractable, real‑time behavior for fast control directions
- Extensions to more complex systems and discussions of controllability and holonomy
- A concrete example using a rolling disk to illustrate the method
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Forgotten Books
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Forgotten Books’ Classic Reprint Series utilizes the latest technology to regenerate facsimiles of historically important writings. Careful attention has been made to accurately preserve the original format of each page whilst digitally enhancing the quality of the aged text.
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