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© 2014

Autonomous Tracked Robots in Planar Off-Road Conditions

Modelling, Localization, and Motion Control

  • 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

Book

Part of the Studies in Systems, Decision and Control book series (SSDC, volume 6)

Table of contents

  1. Front Matter
    Pages 1-7
  2. Ramón González, Francisco Rodríguez, José Luis Guzmán
    Pages 1-9
  3. Ramón González, Francisco Rodríguez, José Luis Guzmán
    Pages 11-33
  4. Ramón González, Francisco Rodríguez, José Luis Guzmán
    Pages 35-56
  5. Ramón González, Francisco Rodríguez, José Luis Guzmán
    Pages 57-83
  6. Ramón González, Francisco Rodríguez, José Luis Guzmán
    Pages 85-105
  7. Ramón González, Francisco Rodríguez, José Luis Guzmán
    Pages 107-109
  8. Back Matter
    Pages 111-119

About this book

Introduction

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

 

Keywords

Adaptive Control Autonomous Tracked Robots Motion Control Planar Off-Road Conditions Predictive Control Robotics Slip Trajectory Tracking Visual Odometry

Authors and affiliations

  1. 1.Department of Computer ScienceUniversity of AlmeriaAlmeriaSpain
  2. 2.Department of Computer ScienceUniversity of AlmeriaAlmeriaSpain
  3. 3.Department of Computer ScienceUniversity of AlmeriaAlmeriaSpain

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
  • Series Abbreviated Title Studies in Systems, Decision and Control
  • DOI https://doi.org/10.1007/978-3-319-06038-5
  • Copyright Information Springer International Publishing Switzerland 2014
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-319-06037-8
  • Softcover ISBN 978-3-319-38332-3
  • eBook ISBN 978-3-319-06038-5
  • 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
  • Topics Robotics and Automation
    Control and Systems Theory
  • Buy this book on publisher's site
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