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1、15MobileRobotsatWork15.1IntroductionRobotsofalltypesconstituteoneofthekeystohumansocialandeconomicdevelopment.Thefirstrobotsweredeviceswithoneormorearmsmakinghuman-likemotions.Inourdays,theshapeofrobotscoversaverylargerepertoryofformsincludingwheeledplatforms,mobilemanipulators,leggedbo
2、dies,animal-likerobots,andsoon.Alltheserobotscontributeinoneortheotherwaytohuman,industrial,agricultural,technical,andsociallifeimprovements.Thebenefitsofusingautonomousandintelligentmobilerobots(wheeledorlegged)inmedical,assistive,andserviceapplicationsarenumerous,andtheirpositiveimpac
3、tinmodernsocietyiscontinuouslyincreasing.Thepurposeofthepresentchapterispurelyencyclopedicandaimstoprovidethereaderasmallsetofmobilerobotsofvarioustypesthatareactuallyusedinmodernindustryandsociety[125].Specifically,thefollowingrobotcategoriesarediscussedwithrelevantphotosincluded:●mobi
4、lerobotsandmanipulatorsinthefactoryandindustry,●mobilerobotsinthesociety(rescue,guidance,hospital),●mobilerobotsforhomeservices(cleaning,otherservices),●assistivemobilerobots(autonomouswheelchairs,servicemobilemanipulatorsfortheimpaired),●mobiletelerobotsandwebrobots,●othermobilerobotap
5、plications.Theaboveapplicationsillustratetheimportanceandvalueofmobilerobotsforachievingabetterqualityofhumanlifeinawidevarietyofdirections.15.2MobileRobotsintheFactoryandIndustryMobilerobotsusedonthefactoryshopflooraretypicallycalledautomatedorautonomousguidedvehicles(AGVs)andmovefollo
6、wingmarkersorwiresonthefloororemploysensorysystems(lasers,vision).AGVsareusedinfactoryformaterialhandling,producttransferfromoneplacetoanother,forinspectionandqualitycontrol,etc.TheyworkaroundtheclockcontributingtobettercontinuousIntroductiontoMobileRobotControl.DOI:http://dx.doi.org/10
7、.1016/B978-0-12-417049-0.00015-8?2014ElsevierInc.Allrightsreserved.floorandjust-in-timedelivery.AnAGVcantowobjectsbehindthemintrailerstowhichtheycanautonomouslyattach.ThefirstAGVwascommerciallyavailableinthe1950sbyBarrettElectronics(Northbrook,IL),actuallybeingatowtruckfollowin
