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 Guzmánen Limba Engleză Hardback – 3 apr 2014
Keywords: longitudinal slip, visual odometry, slip-compensation control, robust predictive control, trajectory tracking.
Related subjects: Robotics – Mechanical Engineering – Mechanics – Computer Science – Artificial Intelligence - Applications
Toate formatele și edițiile | Preț | Express |
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Paperback (1) | 614.12 lei 6-8 săpt. | |
Springer International Publishing – 24 sep 2016 | 614.12 lei 6-8 săpt. | |
Hardback (1) | 617.77 lei 6-8 săpt. | |
Springer International Publishing – 3 apr 2014 | 617.77 lei 6-8 săpt. |
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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
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
ResearchCuprins
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
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