Advertisement

Autonomous Tracked Robots in Planar Off-Road Conditions

Modelling, Localization, and Motion Control

  • Ramón González
  • Francisco Rodríguez
  • José Luis Guzmán

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

  • Ramón González
    • 1
  • Francisco Rodríguez
    • 2
  • José Luis Guzmán
    • 3
  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

  • 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
  • Print ISBN 978-3-319-06037-8
  • Online ISBN 978-3-319-06038-5
  • Series Print ISSN 2198-4182
  • Series Online ISSN 2198-4190
  • Buy this book on publisher's site
Industry Sectors
Pharma
Materials & Steel
Automotive
Biotechnology
Finance, Business & Banking
Electronics
IT & Software
Telecommunications
Consumer Packaged Goods
Energy, Utilities & Environment
Aerospace
Oil, Gas & Geosciences
Engineering