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Autonomous Tracked Robots in Planar Off-Road Conditions [electronic resource] : Modelling, Localization, and Motion Control / by Ram�on Gonz�alez, Francisco Rodr�iguez, Jos�e Luis Guzm�an.

By: Gonz�alez, Ram�on [author.].
Contributor(s): Rodr�iguez, Francisco [author.] | Guzm�an, Jos�e Luis [author.] | SpringerLink (Online service).
Material type: materialTypeLabelBookSeries: Studies in Systems, Decision and Control: 6Publisher: Cham : Springer International Publishing : Imprint: Springer, 2014Description: VIII, 119 p. 56 illus., 27 illus. in color. online resource.Content type: text Media type: computer Carrier type: online resourceISBN: 9783319060385.Subject(s): Engineering | Control engineering | Robotics | Automation | Engineering | Robotics and Automation | ControlAdditional physical formats: Printed edition:: No titleDDC classification: 629.892 Online resources: Click here to access online
Contents:
Introduction -- Modelling Tracked Robots in Planar O-Road Conditions -- Localization of Tracked Robots in Planar Road Conditions -- Adaptive Motion Controllers for Tracked Robots -- Robust Predictive Motion Controllers for Tracked Robots -- Conclusions and Future Works.
In: Springer eBooksSummary: 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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Introduction -- Modelling Tracked Robots in Planar O-Road Conditions -- Localization of Tracked Robots in Planar Road Conditions -- Adaptive Motion Controllers for Tracked Robots -- Robust Predictive Motion Controllers for Tracked Robots -- Conclusions and Future Works.

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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