Corke P. Robotics, Vision and Control. Fundamental Algorithms in MatLAB 3ed 2023

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Corke P. Robotics, Vision and Control. Fundamental Algorithms in MatLAB 3ed 2023

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Textbook in PDF format This textbook provides a comprehensive, but tutorial, introduction to robotics, computer vision, and control. It is written in a light but informative conversational style, weaving text, figures, mathematics, and lines of code into a cohesive narrative. Over 1600 code examples show how complex problems can be decomposed and solved using just a few simple lines of code. This edition is based on MatLAB and a number of MathWorks toolboxes. These provide a set of supported software tools for addressing a broad range of applications in robotics and computer vision. These toolboxes enable the reader to easily bring the algorithmic concepts into practice and work with real, non-trivial, problems. For the beginning student, the book makes the algorithms accessible, the toolbox code can be read to gain understanding, and the examples illustrate how it can be used. The code can also be the starting point for new work, for practitioners, students, or researchers, by writing programs based on toolbox functions. Two co-authors from MathWorks have joined the writing team and bring deep knowledge of these MatLAB toolboxes and workflows. Foreword Preface Contents Nomenclature Introduction A Brief History of Robots Types of Robots Definition of a Robot Robotic Vision Ethical Considerations About the Book Foundations Representing Position and Orientation Foundations Working in Two Dimensions (2D) Working in Three Dimensions (3D) Advanced Topics MatLAB Classes for Pose and Rotation Wrapping Up Time and Motion Time-Varying Pose Accelerating Bodies and Reference Frames Creating Time-Varying Pose Application: Inertial Navigation Wrapping Up Mobile Robotics Mobile Robot Vehicles Wheeled Mobile Robots Aerial Robots Advanced Topics Wrapping Up Navigation Introduction to Reactive Navigation Introduction to Map-Based Navigation Planning with a Graph-Based Map Planning with an Occupancy Grid Map Planning with Roadmaps Planning Drivable Paths Advanced Topics Wrapping Up Localization and Mapping Dead Reckoning Using Odometry Landmark Maps Occupancy Grid Maps Pose-Graph SLAM Wrapping Up Robot Manipulators Robot Arm Kinematics Forward Kinematics Inverse Kinematics Trajectories Applications Advanced Topics Wrapping Up Manipulator Velocity Manipulator Jacobian Application: Resolved-Rate Motion Control Jacobian Condition and Manipulability Force Relationships Numerical Inverse Kinematics Advanced Topics Wrapping Up Dynamics and Control Independent Joint Control Rigid-Body Equations of Motion Forward Dynamics Rigid-Body Dynamics Compensation Task-Space Dynamics and Control Application Wrapping Up Computer Vision Light and Color Spectral Representation of Light Color Advanced Topics Application: Color Images Wrapping Up Images and Image Processing Obtaining an Image Image Histograms Monadic Operations Dyadic Operations Spatial Operations Mathematical Morphology Shape Changing Wrapping Up Image Feature Extraction Region Features Line Features Point Features Applications Wrapping Up Image Formation Perspective Camera Camera Calibration Wide Field-of-View Cameras Unified Imaging Model Novel Cameras Applications Advanced Topics Wrapping Up Using Multiple Images Point Feaature Correspondence Geometry of Multiple Views Sparse Stereo Dense Stereo Anaglyphs Other Depth Sensing Technologies Point Clouds Applications Wrapping Up V Robotics, Vision & Control Vision-Based Control Position-Based Visual Servoing Image-Based Visual Servoing Wrapping Up Real-World Applications Lane and Vehicle Detection with a Monocular Camera Highway Lane Change Planner and Controller UAV Package Delivery Pick-and-Place Workflow in Gazebo Using Point-Cloud Processing and RRT Path Planning Supplementary Information Software Installation Linear Algebra Geometry Lie Groups and Algebras Linearization, Jacobians, and Hessians Solving Systems of Equations Gaussian Random Variables Kalman Filter Graphs Peak Finding References Index of People Index of Functions, Classes, and MethodsClasses are shown in bold, and methods are prefixed by a dot. All others are functions. Index of Apps Index of Models