Development of Fpga Based Controller For Autonomous Rough Terrain Robots

The Internet of Things (IoT) usually refers to a world-wide network of interconnected heterogeneous objects (sensors, actuators, smart devices, smart objects, RFID, embedded computers, etc) uniquely addressable, based on standard communication protocols. Beyond such a definition, it is emerging a new definition of IoT seen as a loosely coupled, decentralized system of cooperating smart objects (SOs).

The Internet of Things (IoT) usually refers to a world-wide network of interconnected heterogeneous objects (sensors, actuators, smart devices, smart objects, RFID, embedded computers, etc) uniquely addressable, based on standard communication protocols. Beyond such a definition, it is emerging a new definition of IoT seen as a loosely coupled, decentralized system of cooperating smart objects (SOs).

The subject of this book is theory, principles and methods used in radar algorithm development with a special focus on automotive radar signal processing. In the automotive industry, autonomous driving is currently a hot topic that leads to numerous applications for both safety and driving comfort. It is estimated that full autonomous driving will be realized in the next twenty to thirty years and one of the enabling technologies is radar sensing.

This book offers a timely overview of nonlinear control methods applied to a set of vehicles and their applications to study vehicle dynamics. The first part on the book presents the mathematical models used for describing motion of three class of vehicles such as underwater vehicles, hovercrafts and airships. In turn, each model is expressed in terms of Inertial Quasi-Velocities. Various control strategies from the literature, including model-free ones, are then analyzed. The second part and core of the book guides readers to developing model-based control algorithms using Inertial Quasi-Velocities. Both non-adaptive and adaptive versions are covered. Each controller is validated through simulation tests, which are reported in detail.