Overview
- Confirms the robustness and efficiency of a SLAM-based integrated mobile robot approach to inspection tasks
- Showcases applications of mobile robots to motion and inspection in rough and hard-to-access terrain
- Provides state-of-the-art information on the development of multirobot inspection systems and maps
Part of the book series: Mechanisms and Machine Science (Mechan. Machine Science, volume 87)
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Table of contents (6 chapters)
Keywords
About this book
This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system’s development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots’ homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.
Authors and Affiliations
Bibliographic Information
Book Title: SLAM Techniques Application for Mobile Robot in Rough Terrain
Authors: Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka
Series Title: Mechanisms and Machine Science
DOI: https://doi.org/10.1007/978-3-030-48981-6
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020
Hardcover ISBN: 978-3-030-48980-9Published: 09 July 2020
Softcover ISBN: 978-3-030-48983-0Published: 09 July 2021
eBook ISBN: 978-3-030-48981-6Published: 08 July 2020
Series ISSN: 2211-0984
Series E-ISSN: 2211-0992
Edition Number: 1
Number of Pages: IX, 131
Number of Illustrations: 33 b/w illustrations, 76 illustrations in colour
Topics: Machinery and Machine Elements, Control, Robotics, Mechatronics, Computational Intelligence