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001 978-3-319-06038-5
003 DE-He213
005 20200420221250.0
007 cr nn 008mamaa
008 140322s2014 gw | s |||| 0|eng d
020 _a9783319060385
_9978-3-319-06038-5
024 7 _a10.1007/978-3-319-06038-5
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aGonz�alez, Ram�on.
_eauthor.
245 1 0 _aAutonomous Tracked Robots in Planar Off-Road Conditions
_h[electronic resource] :
_bModelling, Localization, and Motion Control /
_cby Ram�on Gonz�alez, Francisco Rodr�iguez, Jos�e Luis Guzm�an.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2014.
300 _aVIII, 119 p. 56 illus., 27 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aStudies in Systems, Decision and Control,
_x2198-4182 ;
_v6
505 0 _aIntroduction -- 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.
520 _aThis 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  .
650 0 _aEngineering.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aControl.
700 1 _aRodr�iguez, Francisco.
_eauthor.
700 1 _aGuzm�an, Jos�e Luis.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319060378
830 0 _aStudies in Systems, Decision and Control,
_x2198-4182 ;
_v6
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-319-06038-5
912 _aZDB-2-ENG
942 _cEBK
999 _c52534
_d52534