Safe Robot Navigation Among Moving and Steady Obstacles（Paperback）

Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles.

The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario.

For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital.

• First book on collision free reactive robot navigation in unknown dynamic environments
• Bridges the gap between mathematical model and practical algorithms
• Presents implementable and computationally efficient algorithms of robot navigation
• Includes mathematically rigorous proofs of their convergence
• A detailed review of existing reactive navigation algorithm for obstacle avoidance
• Describes fundamentals of sliding mode control

《在移動和穩定障礙物中安全機器人導航》是第一本專注於未知動態環境中具有移動和穩定障礙物的反應式導航演算法的書籍。

前三章介紹了滑模控制理論、感測器模型和車輛運動學的背景知識。第四章討論了在存在障礙物的情況下的最佳導航問題。第五章討論了反應式導航的問題。第六章將邊界巡邏演算法應用於更一般的反應式導航問題。第七章介紹了一種對Dubins-like移動機器人進行引導的方法。第八章介紹並研究了一種簡單的生物啟發導航Dubins-car策略。第九章處理了一個困難的情景，其中操作環境中充滿了可能進行任意運動（包括旋轉和變形）的障礙物。第十章介紹了一種新穎的反應式演算法，用於在未知複雜動態環境中與移動障礙物碰撞自由導航的非完整機器人。第十一章介紹並研究了一種新穎的純反應式演算法，用於在密集障礙物環境中導航平面移動機器人，其中障礙物的移動和變形是不可預測的。第十二章考慮了多機器人情景。

對於控制和自動化工程師來說，本書提供了重要數學模型和結果的易於理解和精確的發展。所有提出的結果都有數學上嚴格的證明。另一方面，工業界的工程師可以通過與實際機器人（如Pioneer機器人、自主輪椅和自主移動醫院）的實驗受益。

- 第一本關於在未知動態環境中碰撞自由反應式機器人導航的書籍
- 填補了數學模型和實際演算法之間的差距
- 提供可實施且計算效率高的機器人導航演算法
- 包含其收斂的數學上嚴格的證明
- 詳細回顧了現有的反應式導航演算法以避開障礙物
- 描述了滑模控制的基礎知識