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020 _a9783030489816
_9978-3-030-48981-6
024 7 _a10.1007/978-3-030-48981-6
_2doi
050 4 _aTA213-215
072 7 _aTGB
_2bicssc
072 7 _aTEC046000
_2bisacsh
072 7 _aTGB
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082 0 4 _a621.8
_223
100 1 _aKudriashov, Andrii.
_eauthor.
_0(orcid)0000-0002-9377-3963
_1https://orcid.org/0000-0002-9377-3963
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_941032
245 1 0 _aSLAM Techniques Application for Mobile Robot in Rough Terrain
_h[electronic resource] /
_cby Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka.
250 _a1st ed. 2020.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2020.
300 _aIX, 131 p. 109 illus., 76 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 _aMechanisms and Machine Science,
_x2211-0992 ;
_v87
505 0 _aIntroduction -- Robotic inspection of pipelines -- Design of a pipeline inspection mobile robot with an active adaptation mechanism -- Mathematical modeling of the robot -- Simulations of the robot adaptation and motion in various environments -- Control system design and implementation -- Prototype of the pipe inspection robot -- Discussion, conclusions and future work.
520 _aThis book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system’s development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots’ homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.
650 0 _aMachinery.
_931894
650 0 _aControl engineering.
_931970
650 0 _aRobotics.
_92393
650 0 _aAutomation.
_92392
650 0 _aComputational intelligence.
_97716
650 1 4 _aMachinery and Machine Elements.
_931895
650 2 4 _aControl, Robotics, Automation.
_931971
650 2 4 _aComputational Intelligence.
_97716
700 1 _aBuratowski, Tomasz.
_eauthor.
_0(orcid)0000-0002-2204-195X
_1https://orcid.org/0000-0002-2204-195X
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_941033
700 1 _aGiergiel, Mariusz.
_eauthor.
_0(orcid)0000-0002-4212-1113
_1https://orcid.org/0000-0002-4212-1113
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_941034
700 1 _aMałka, Piotr.
_eauthor.
_0(orcid)0000-0002-1377-6460
_1https://orcid.org/0000-0002-1377-6460
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_941035
710 2 _aSpringerLink (Online service)
_941036
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783030489809
776 0 8 _iPrinted edition:
_z9783030489823
776 0 8 _iPrinted edition:
_z9783030489830
830 0 _aMechanisms and Machine Science,
_x2211-0992 ;
_v87
_941037
856 4 0 _uhttps://doi.org/10.1007/978-3-030-48981-6
912 _aZDB-2-ENG
912 _aZDB-2-SXE
942 _cEBK
999 _c76860
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