Overview
- 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
Part of the book series: Studies in Systems, Decision and Control (SSDC, volume 6)
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Table of contents (6 chapters)
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Front Matter
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Back Matter
Keywords
About this book
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
Authors and Affiliations
Bibliographic Information
Book Title: Autonomous Tracked Robots in Planar Off-Road Conditions
Book Subtitle: Modelling, Localization, and Motion Control
Authors: Ramón González, Francisco Rodríguez, José Luis Guzmán
Series Title: Studies in Systems, Decision and Control
DOI: https://doi.org/10.1007/978-3-319-06038-5
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2014
Hardcover ISBN: 978-3-319-06037-8Published: 03 April 2014
Softcover ISBN: 978-3-319-38332-3Published: 24 September 2016
eBook ISBN: 978-3-319-06038-5Published: 22 March 2014
Series ISSN: 2198-4182
Series E-ISSN: 2198-4190
Edition Number: 1
Number of Pages: VIII, 119
Number of Illustrations: 29 b/w illustrations, 27 illustrations in colour