000 | 04237nam a22006015i 4500 | ||
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001 | 978-3-030-48981-6 | ||
003 | DE-He213 | ||
005 | 20220801214901.0 | ||
007 | cr nn 008mamaa | ||
008 | 200708s2020 sz | s |||| 0|eng d | ||
020 |
_a9783030489816 _9978-3-030-48981-6 |
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024 | 7 |
_a10.1007/978-3-030-48981-6 _2doi |
|
050 | 4 | _aTA213-215 | |
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_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 |
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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. |
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336 |
_atext _btxt _2rdacontent |
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337 |
_acomputer _bc _2rdamedia |
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338 |
_aonline resource _bcr _2rdacarrier |
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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 |
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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 |
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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 |
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912 | _aZDB-2-SXE | ||
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