Autonomous Tracked Robots in Planar Off-Road Conditions / Studies in Systems, Decision and Control Bd.6 (PDF)

Name: Autonomous Tracked Robots in Planar Off-Road Conditions / Studies in Systems, Decision and Control Bd.6
Brand: Springer-Verlag GmbH
SKU: 58092355
Price: 96.29 EUR
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Modelling, Localization, and Motion Control (Sprache: Englisch)

Autoren: Ramón González , Francisco Rodríguez , José Luis Guzmán

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Autonomous Tracked Robots in Planar Off-Road Conditions / Studies in Systems, Decision and Control Bd.6, Ramón González, Francisco Rodríguez, José Luis Guzmán

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This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques.

Keywords: longitudinal slip, visual odometry, slip-compensation control, robust predictive control, trajectory tracking.

Related subjects: Robotics - Mechanical Engineering - Mechanics - Computer Science - Artificial Intelligence - Applications

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Bibliographische Angaben

Autoren: Ramón González , Francisco Rodríguez , José Luis Guzmán
2014, 2014, 119 Seiten, Englisch
Verlag: Springer-Verlag GmbH
ISBN-10: 3319060384
ISBN-13: 9783319060385
Erscheinungsdatum: 22.03.2014

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Größe: 6.75 MB
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Englisch

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