“Path Planning of Cooperative Mobile Robots” is a comprehensive guide to path planning and motion control for teams of cooperative mobile robots, using discrete event models. The book offers an integrated presentation of both topics, presenting readers with everything they need to know to generate feasible paths or routes while avoiding obstacles.
The problem of path planning is formulated by using the principles of discrete event systems, which are commonly used in the field of robotics. The book covers both Finite State Automaton (FSA) models and Petri Net (PN) models, and presents methods for centralized control of teams.
“Path Planning of Cooperatives Mobile Robots using Discrete Event Models” begins with an overview of the problems and state of the art, followed by an introduction to different types of models, including FSA and PN. The book also includes a description of the RMTool MATLAB toolbox, which can be used for simulation and analysis of the models.
This book is intended for researchers and practitioners in the fields of robotics, control systems, and discrete event modeling. It provides a comprehensive overview of the field, offering readers a solid foundation for further research and development in this area.
Электронная Книга «Path Planning of Cooperative Mobile Robots Using Discrete Event Models» написана автором Cristian Mahulea в году.
Минимальный возраст читателя: 0
Язык: Английский
ISBN: 9781119486367
Описание книги от Cristian Mahulea
Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.
