Electronic Resource

Autonomous Tracked Robots in Planar Off-Road Conditions: Modelling, Localization, and Motion Control

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Penilaian

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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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Availability

Inventory Code	Barcode	Call Number	Location	Status
1408000270	EB0000464	629.892 Aut	Central Library	Available

Detail Information

Series Title

Studies in Systems, Decision and Control

Call Number

629.892 Aut

Publisher

Switzerland : Springer Cham., 2014

Collation

viii, 119p.: Ill.

Language

English

ISBN/ISSN

978-3-319-06038-5

Classification

629.892

Content Type

Ebook

Media Type

-

Carrier Type

online resource

Edition

1

Subject(s)

Mobile robots
Robots--Control systems

Specific Detail Info

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Statement of Responsibility

RTS

Other version/related

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