Mobile robotic car design

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... Pesisir Kulim Library	30000010113453	TL152.8 K32 2005	Open Access Book	Book	Searching... Unknown
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Searching... PSZ JB	30000004997585	TL152.8 K32 2005	Open Access Book	Book	Searching... Unknown
Searching... PSZ KL	30000010113451	TL152.8 K32 2005	Open Access Book	Book	Searching... Unknown

Provides illustrated plans and instructions for building a 1:10-scale car robot. Written by robotics experts, this book gives you a solid background in electrical and mechanical theory, and the design savvy to conceptualize, enlarge, and build robotics projects of your own.

Author Notes

Pushkin Kachroo obtained his Ph.D. in mechanical engineering from the University of California, Berkeley.

Kachroo is an assistant professor at Virginia Tech. He is a research engineer at the robotics R&D laboratory at Lincoln Electric Company and a Research Scientist at the Center for Transportation research. Dr .Kachroo has also served as the principal and co-principal investigator of several ITS projects.

050

Preface	p. ix
Chapter 1 Introduction	p. 1
Motivation	p. 1
Autonomous Vehicles	p. 3
Organization of This Book	p. 4
Chapter 2 Overall System Structure	p. 9
Actuation	p. 11
DC motor	p. 11
Servomotor	p. 13
Sensors	p. 14
Infrared (IR)	p. 14
Magnetic	p. 16
Vision	p. 17
Headway sensing	p. 19
Optical encoder	p. 20
Processors	p. 21
PIC microcontroller	p. 21
Digital signal processor (DSP)	p. 22
Power	p. 23
Batteries	p. 23
Automatic recharging	p. 25
Chapter 3 Construction	p. 27
Chapter 4 Environment Sensing	p. 47
Lateral Displacement	p. 47
IR circuitry	p. 49
Magnetic circuitry	p. 51
Headway Measurement	p. 51
IR range finder	p. 52
Headway circuitry	p. 52
Speed Measurement	p. 52
Encoder circuitry	p. 53
Battery Voltage Measurement	p. 54
Voltage-sensing circuitry	p. 56
Current-sensing circuitry	p. 57
A/D Conversion	p. 57
Data Bus Interface	p. 59
Chapter 5 DC Motors and Servos	p. 69
Magnetic Forces on a Moving Charge	p. 69
Magnetic Forces on a Conductor	p. 70
Magnetic Forces on a Loop	p. 72
Commutation	p. 75
DC Motor Power Control	p. 75
LMD18200 H-Bridge	p. 85
H-Bridge for the FLASH Car	p. 87
DC Motor Dynamics	p. 87
DC Motor Steady-State Analysis	p. 95
Identification of DC Motor Parameters	p. 96
Motor Resistance	p. 97
Torque and Back Emf Constants	p. 97
Static Friction Coefficient	p. 97
Viscous Friction Coefficient	p. 97
Others	p. 97
RC Servomotor	p. 98
MATLAB Models	p. 101
MATLAB Model for DC Motor	p. 101
MATLAB Model for the Futaba Servomotor	p. 106
Servo Hack	p. 107
Chapter 6 Low-Level Control	p. 113
Tutorial	p. 113
Features of the PIC16F874	p. 117
Program Details	p. 119
Initialization	p. 119
Main Program Loop	p. 128
Interrupts	p. 130
Programming the PIC	p. 139
MPLAB	p. 140
PIC programmers	p. 143
Chapter 7 Microprocessor Control	p. 147
Tutorial	p. 147
Using code composer	p. 147
Using the Flash Programming Utility	p. 150
Features of the DSP	p. 151
The DSP Program Flow	p. 156
Program Details	p. 156
Initialization	p. 157
Main program	p. 158
Programming the DSP	p. 169
Code Composer Studio	p. 169
Chapter 8 Modeling and Control Basics	p. 177
What Is Modeling?	p. 177
What Is Control?	p. 179
Open-loop control	p. 179
Closed-loop control	p. 180
A Little Bit of Math	p. 181
Mobile Robot Modeling and Control	p. 183
Kinematic vs. dynamic modeling	p. 183
Control objectives	p. 183
Control approach	p. 185
Chapter 9 Mathematical Modeling	p. 187
Kinematic Modeling	p. 187
Nonholonomic constraints	p. 188
Unicycle kinematic model	p. 189
Global coordinate model	p. 190
Path coordinate model	p. 192
Ground curves	p. 194
Image dynamics	p. 194
Dynamic Model	p. 200
Traction Control	p. 206
Nonlinear vehicle model	p. 206
Chapter 10 Control Design	p. 213
Path Following	p. 213
Path model controller	p. 213
Image controller	p. 223
Automatic Cruise Control	p. 225
Actuator Control	p. 227
Lateral controller	p. 228
Velocity controller	p. 229
Traction Control	p. 231
Chapter 11 Simulation Environment	p. 233
Simulation Overview	p. 234
The Simulation Program	p. 234
Path creation	p. 234
Error calculation	p. 235
Heading angle calculation	p. 239
Control input calculation	p. 239
Car model	p. 240
Animation	p. 240
Simulation Results	p. 241
Control using the actual curvature	p. 241
Control using the [phi] estimator	p. 243
Control using the model estimator	p. 247
Appendix A Bibliography	p. 249
Appendix B Schematics	p. 253
Appendix C Parts Information	p. 263
Appendix D Hardware Sources	p. 267
Index	p. 273

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Author Notes

Table of Contents