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Autonomous Tracked Robots in Planar Off-Road Conditions: Modelling, Localization, and Motion Control: Studies in Systems, Decision and Control, cartea 6

Autor Ramón González, Francisco Rodríguez, José Luis Guzmán
en Limba Engleză Hardback – 3 apr 2014
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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Specificații

ISBN-13: 9783319060378
ISBN-10: 3319060376
Pagini: 128
Ilustrații: VIII, 119 p. 56 illus., 27 illus. in color.
Dimensiuni: 155 x 235 x 15 mm
Greutate: 0.3 kg
Ediția:2014
Editura: Springer International Publishing
Colecția Springer
Seria Studies in Systems, Decision and Control

Locul publicării:Cham, Switzerland

Public țintă

Research

Cuprins

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.

Textul de pe ultima copertă

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
 

Caracteristici

Presents an extended kinematic model taking into account slip effect, which is validated through physical experiments Demonstrates a localization strategy based on visual odometry and visual compass, which is successfully tested in real off-road conditions A whole navigation architecture is designed for a real off-road mobile robot and validated through physical experiments