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Autonomous Robots
Modeling, Path Planning, and Control
Farbod Fahimi
Autonomous Robots
Modeling, Path Planning, and Control
123
Farbod Fahimi
Mechanical Engineering Department
University of Alberta
Edmonton, Alberta
Canada
ffahimi@ualberta.ca
ISBN: 978-0-387-09537-0
e-ISBN: 978-0-387-09538-7
DOI 10.1007/978-0-387-09538-7
Library of Congress Control Number: 2008931982
Springer Science+Business Media, LLC 2009
All rights reserved. This work may not be translated or copied in whole or in part without the written
permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York,
NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in
connection with any form of information storage and retrieval, electronic adaptation, computer
software, or by similar or dissimilar methodology now known or hereafter developed is forbidden.
The use in this publication of trade names, trademarks, service marks, and similar terms, even if
they are not identified as such, is not to be taken as an expression of opinion as to whether or not
they are subject to proprietary rights.
Printed on acid-free paper
springer.com
c
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 become 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
robots have more freedom for their mobility, which allows them to do tasks that the
conventional manipulators cannot do.
Engineers have taken advantage of the extra mobility of the new robots to make
them work in constrained environments. The constraints can range from limited
joint motions for redundant (or hyper-redundant) manipulators to obstacles in the
way of mobile (ground, marine, and aerial) robots. Since these constraints usually
depend on the work environment, they are variable. Engineers have had to invent
methods to allow the robots deal with a variety of constraints automatically. A robot
that is equipped with those methods that make it able to automatically deal with
a variety of environmental constraints while performing a desired task is called an
autonomous robot.
Purpose of the Book
There are many books that discuss different aspects of Robotics. However, they
mostly focus on conventional robotic manipulators and at best, add a brief section
to address mobile robots. Recently, the application of autonomous robots (redundant
and hyper-redundant manipulators, and ground, marine, and aerial robots) is finding
its way into industries and even into people’s everyday life. One can mention several
examples such as robotic helicopters for surveillance, aerial photography, or farm
spraying, high-end cars that park themselves, robotic vacuum cleaners, etc. It is
becoming more important that our students learn about autonomous robots and our
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