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1、15MobileRobotsatWork15.1IntroductionRobotsofalltypesconstituteoneofthekeystohumansocialandeconomicdevel-opment.Thefirstrobotsweredeviceswithoneormorearmsmakinghuman-likemotions.Inourdays,theshapeofrobotscoversaverylargerepertoryofformsincludingwheeledplatforms,mobilemanipulators,leggedbodies
2、,animal-likerobots,andsoon.Alltheserobotscontributeinoneortheotherwaytohuman,industrial,agricultural,technical,andsociallifeimprovements.Thebenefitsofusingautonomousandintelligentmobilerobots(wheeledorlegged)inmedical,assistive,andserviceapplicationsarenumerous,andtheirpositiveimpactinmod-er
3、nsocietyiscontinuouslyincreasing.Thepurposeofthepresentchapterispurelyencyclopedicandaimstoprovidethereaderasmallsetofmobilerobotsofvarioustypesthatareactuallyusedinmodernindustryandsociety[125].Specifically,thefollowingrobotcategoriesarediscussedwithrelevantphotosincluded:mobilerobotsandm
4、anipulatorsinthefactoryandindustry,mobilerobotsinthesociety(rescue,guidance,hospital),mobilerobotsforhomeservices(cleaning,otherservices),assistivemobilerobots(autonomouswheelchairs,servicemobilemanipulatorsfortheimpaired),mobiletelerobotsandwebrobots,othermobilerobotapplications.Theabo
5、veapplicationsillustratetheimportanceandvalueofmobilerobotsforachievingabetterqualityofhumanlifeinawidevarietyofdirections.15.2MobileRobotsintheFactoryandIndustryMobilerobotsusedonthefactoryshopflooraretypicallycalledautomatedorautonomousguidedvehicles(AGVs)andmovefollowingmarkersorwiresonth
6、efloororemploysensorysystems(lasers,vision).AGVsareusedinfactoryformaterialhandling,producttransferfromoneplacetoanother,forinspectionandqualitycontrol,etc.TheyworkaroundtheclockcontributingtobettercontinuousIntroductiontoMobileRobotControl.DOI:http://dx.doi.org/10.1016/B978-0-12-417049-0.00
7、015-8©2014ElsevierInc.Allrightsreserved.636IntroductiontoMobileRobotControlfloorandjust-in-timedelivery.AnAGVcantowobjectsbehindthemintrailerstowhichtheycanautonomouslyattach.ThefirstAGVwascommerciallyavailableinthe1950sbyBarrettElectronics(Northbr
