Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained.

本文提出了一种基于扰动观测器的带输入扰动的轮式移动机器人路径跟踪问题的模型预测控制。 设计了一个非线性干扰观测器来估计干扰，并补偿干扰的影响。 针对轮式移动机器人的输入约束，采用具有渐近收敛性的名义模型预测控制方案。 仿真示例表明，尽管存在缓慢变化的输入扰动，但所提出的方案仍可以驱动轮式移动机器人遵循给定的路径。

1.输入是path（来自于图搜索或采样式路径规划方法）和steer function，输出是path。分为2个步骤，a:使用梯度下降法，移动和插入顶点使得离障碍物更远、离障碍物近的地方路径点更密集；b:使用基于cost的short-cutting方法删除不必要的路径点。

This is an introductory book on the subject of wheeled mobile robotics, covering all the essential knowledge and algorithms that are required in order to achieve autonomous capabilities of mobile robots. The book can serve both as a textbook for engineering students and a reference book for professionals in the field. As a textbook, it is suitable for courses in mobile robotics, especially if the courses’ main emphasis is on mobile robots with wheels. The book covers topics from mathematical modeling of motion, sensors and measurements, control algorithms, path planning, nondeterministic events, and state estimation. The theory is supported with examples that have solutions and excerpts of Matlab code listings in order to make it simple for the reader to try, evaluate, and modify the algorithms. Furthermore, at the end of the book some interesting practical projects are depicted, which can be used for laboratory practice or to consolidate the theory learned

关于多移动机器人，路径跟踪的控制算法，协调控制