Mobile Robots: Navigation, Control and Sensing, Surface Robots and Auvs

The theme which prevails throughout this book is the use of mobile robots for sensing objects of interest. This has particular application in environments where humans would be endangered such as in outer space, hostile natural environments, on the battlefield, and numerous others. An important feature of this book is the particular combination of topics included. These are (1) control, (2) navigation and (3) remote sensing. Starting with a kinematic description of mobile robots, the authors present a detailed chapter on control, covering several different configurations of mobile robots. As an introduction to navigation, coordinate transformations are presented. That is followed by an extensive chapter on mobile robot navigation. A major part of the text is based on sensors and remote sensing.