文档介绍：Autonomous Robots
Modeling, Path Planning, and Control
Farbod Fahimi
Autonomous Robots
Modeling, Path Planning, and Control
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Farbod Fahimi
Mechanical Engineering Department
University of Alberta
Edmonton, Alberta
Canada
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ISBN: 978-0-387-09537-0 e-ISBN: 978-0-387-09538-7
DOI -0-387-09538-7
Library of Congress Control Number: 2008931982
c Springer Science+Business Media, LLC 2009
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Printed on acid-free paper
Dedicated to my supportive father, who sacrificed so
much for his children.
Preface
Autonomous Versus Conventional Robots
It is at least two decades since the conventional robotic manipulators have e a
common manufacturing tool for different industries, from automotive to pharmaceu-
tical. The proven benefits of utilizing robotic manipulators for manufacturing in dif-
ferent industries motivated scientists and researchers to try to extend the applications
of robots to many other areas. To extend the application of robotics, scientists had
to invent several new types of robots other than conventional manipulators. The new
types of robots can be categorized in two groups: redundant (and hyper-redundant)
manipulators and mobile (ground, marine, and aerial) robots. These two groups of
r