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Description
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. View more >

Key Features
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



Table of Contents
Preface
Abbreviations
Frequently used notations
1: Introduction
Abstract
1.1 Collision-free navigation of wheeled robots among moving and steady obstacles
1.2 Overview and organization of the book
1.3 Sliding mode control
1.4 Experimental equipment
2: Fundamentals of sliding mode control
Abstract
2.1 Introduction
2.2 Sliding motion
2.3 Filippov solutions
3: Survey of algorithms for safe navigation of mobile robots in complex environments
Abstract
3.1 Introduction
3.2 Problem considerations
3.3 Model predictive control
3.4 Sensor-based techniques
3.5 Moving obstacles
3.6 Multiple robot navigation
4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles
Abstract
4.1 Introduction
4.2 System description and main assumptions
4.3 Off-line shortest path planning
4.4 On-line navigation
4.5 Computer simulations
4.6 Experiments with a real robot
5: Reactive navigation of wheeled robots for border patrolling
Abstract
5.1 Introduction
5.2 Boundary following using a minimum distance sensor: System description and problem statement
5.3 Main assumptions of theoretical analysis
5.4 Navigation for border patrolling based on minimum distance measurements
5.5 Computer simulations of border patrolling with a minimum distance sensor
5.6 Boundary following with a rigidly mounted distance sensor: Problem setup
5.7 Assumptions of theoretical analysis and tuning of the navigation controller
5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposed navigation law
5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor
5.10 Experiments with a real robot
6: Safe navigation to a target in unknown cluttered static environments based on border patrolling algorithms
Abstract
6.1 Navigation for target reaching with obstacle avoidance: Problem statement and navigation strategy
6.2 Assumptions of theoretical analysis and convergence of the navigation strategy
6.3 Computer simulations of navigation with obstacle avoidance
7: Algorithm for reactive navigation of nonholonomic robots in maze-like environments
Abstract
7.1 Introduction
7.2 Problem setup and navigation strategy
7.3 Assumptions of theoretical analysis and tuning the navigation law
7.4 Convergence and performance of the navigation law
7.5 Simulations and experiments with a real wheeled robot
AppendixA Appendix: Proofs of Proposition 4.1 and Lemmas 4.6 and 4.7
8: Biologically-inspired algorithm for safe navigation of a wheeled robot among moving obstacles
Abstract
8.1 Introduction
8.2 Problem description
8.3 Navigation algorithm
8.4 Mathematical analysis of the navigation strategy
8.5 Computer simulations
8.6 Experiments with a laboratorial wheeled robot
8.7 Algorithm implementation with a robotic wheelchair
8.8 Algorithm implementation with a robotic motorized hospital bed
9: Reactive navigation among moving and deforming obstacles: Problems of border patrolling and avoiding collisions
Abstract
9.1 Introduction
9.2 System description and border patrolling problem
9.3 Navigation for border patrolling
9.4 Main assumptions
9.5 Main results concerning border patrolling problem
9.6 Illustrative examples of border patrolling
9.7 Navigation in an environment cluttered with moving obstacles
9.8 Simulations
9.9 Experimental results
10: Seeking a path through the crowd: Robot navigation among unknowingly moving obstacles based on an integrated representation of the environment
Abstract
10.1 Introduction
10.2 Problem description
10.3 Navigation algorithm
10.4 Mathematical analysis of the navigation strategy
10.5 Computer simulations
10.6 Experiments with a real robot
11: A globally converging reactive algorithm for robot navigation in scenes densely cluttered with moving and deforming obstacles
Abstract
11.1 Introduction
11.2 Problem setup
11.3 The navigation algorithm
11.4 Collision avoidance
11.5 Achieving the main navigation objective
11.6 Illustrations of the main results for special scenarios
11.7 Simulations
12: Safe cooperative navigation of multiple wheeled robots in unknown steady environments with obstacles
Abstract
12.1 Introduction
12.2 Problem statement
12.3 Proposed navigation system
12.4 Simulation results
12.5 Experimental results with wheeled robots
Bibliography
Index