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TY  - BOOK
ID  - 700406
TI  - Autonomous Tracked Robots in Planar Off-Road Conditions : Modelling, Localization, and Motion Control
AU  - González, Ramón.
AU  - Rodríguez Díaz, Francisco
AU  - Guzmán, José Luis.
PY  - 2014
SN  - 3319060384 3319060376
PB  - Cham : Springer International Publishing : Imprint: Springer,
DB  - UniCat
KW  - Automation.
KW  - Robotics.
KW  - Automation
KW  - Machine theory
KW  - Automatic factories
KW  - Automatic production
KW  - Computer control
KW  - Engineering cybernetics
KW  - Factories
KW  - Industrial engineering
KW  - Mechanization
KW  - Assembly-line methods
KW  - Automatic control
KW  - Automatic machinery
KW  - CAD/CAM systems
KW  - Robotics
KW  - Robotics and Automation.
KW  - Control and Systems Theory.
KW  - Control engineering.
KW  - Control engineering
KW  - Control equipment
KW  - Control theory
KW  - Engineering instruments
KW  - Programmable controllers
KW  - Automatic control.
UR  - https://www.unicat.be/uniCat?func=search&query=sysid:700406
AB  - 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  .
ER  -