Ramón González, Francisco Rodríguez, José Luis Guzmán

Autonomous Tracked Robots in Planar Off-Road Conditions

Modelling, Localization, and Motion Control

• Broschiertes Buch

Produktbeschreibung

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

Produktdetails

• Studies in Systems, Decision and Control 6
• Verlag: Springer / Springer, Berlin
• Artikelnr. des Verlages: 978-3-319-38332-3
• Softcover reprint of the original 1st ed. 2014
• Seitenzahl: 119
• Englisch
• Abmessung: 234mm x 156mm x 8mm
• Gewicht: 206g
• ISBN-13: 9783319383323
• ISBN-10: 3319383329
• Artikelnr.: 46000112

Inhaltsangabe

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.