Autonomous Mobile Robot Motion Control
A concept for tracking control, navigation and motionplanning
Research on autonomous mobile robots or vehicles isone of the most seminal subjects at the moment.Economically leading nations like the USA and Japanhave adopted it to one of their national researchtopics. The notion 'autonomous' here indicates that the...
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Research on autonomous mobile robots or vehicles isone of the most seminal subjects at the moment.Economically leading nations like the USA and Japanhave adopted it to one of their national researchtopics. The notion 'autonomous' here indicates that the robotshould be capable of performing certain tasks withouthuman interaction, in this case mobility tasks.Possible applications include deployment in case ofnatural disasters, driver assist systems, mobilityfor the disabled, logistics and manufacturingautomatisation.The task for an earth-bound robot is to move to acertain relative location in a possibly previouslyunknown complex two-dimensional environment.This task is subdivided into simultaneous motionplanning and 2D-map-building, self-localisation oralso called navigation within the environment andfinally trajectory following control.In this dissertation the author Martin Seyr presentsa control concept and novel algorithms, along withexperimental validation on a laboratory prototyperobot and an extensive review and discussion of thestate of the art in the field.
Autoren-Porträt von Martin Seyr
Martin Seyr, Dipl.-Ing. Dr. techn., born in Vienna, Austria,studied mechanical engineering at Vienna University of Technologywith focus on numerical simulation methods. In 2006 he took hisdoctoral degree under academic supervision of Prof. Dr. StefanJakubek at the Institute of Mechanics and Mechatronics, lead byProf. Dr. Hanns-Peter Jörgl.
Bibliographische Angaben
- Autor: Martin Seyr
- 2009, 112 Seiten, Maße: 14,9 x 22,1 cm, Kartoniert (TB), Deutsch
- Verlag: Südwestdeutscher Verlag
- ISBN-10: 3838106326
- ISBN-13: 9783838106328
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