Studies in Systems, Decision and Control

Autonomous Tracked Robots in Planar Off-Road Conditions

Modelling, Localization, and Motion Control

Authors: González, Ramon, Rodriguez, Francisco, Guzmán, José Luis

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  • 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
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  • ISBN 978-3-319-06038-5
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Hardcover $159.99
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  • ISBN 978-3-319-06037-8
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  • Customers within the U.S. and Canada please contact Customer Service at +1-800-777-4643, Latin America please contact us at +1-212-460-1500 (24 hours a day, 7 days a week).
  • Due: November 11, 2016
  • ISBN 978-3-319-38332-3
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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

 

Table of contents (6 chapters)

Table of contents (6 chapters)

Buy this book

eBook $99.00
price for USA in USD (gross)
  • ISBN 978-3-319-06038-5
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $159.99
price for USA in USD
  • ISBN 978-3-319-06037-8
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $129.99
price for USA in USD
  • Customers within the U.S. and Canada please contact Customer Service at +1-800-777-4643, Latin America please contact us at +1-212-460-1500 (24 hours a day, 7 days a week).
  • Due: November 11, 2016
  • ISBN 978-3-319-38332-3
  • Free shipping for individuals worldwide
Rent the eBook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Autonomous Tracked Robots in Planar Off-Road Conditions
Book Subtitle
Modelling, Localization, and Motion Control
Authors
Series Title
Studies in Systems, Decision and Control
Series Volume
6
Copyright
2014
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-06038-5
DOI
10.1007/978-3-319-06038-5
Hardcover ISBN
978-3-319-06037-8
Softcover ISBN
978-3-319-38332-3
Series ISSN
2198-4182
Edition Number
1
Number of Pages
VIII, 119
Number of Illustrations
29 b/w illustrations, 27 illustrations in colour
Topics