Autonomous Robots: Modeling, Path Planning, and Control

This book covers the kinematics and dynamic modeling/ analysis of autonomous robots as well as methods suitable for their control. Specifi c topics include the ap plication of autonomous robots, obstacle avoidance in two- and threedimensional workspaces using potential fi eld methods, kinematic and dynamic models of autonomous robots, and control methods such as PID, feedback linearization, and sliding modes. The targeted audience is fiundergraduate and fi rst-year graduate students as well as practicing mechanical and electrical engineers.