Autonomous Tracked Robots in Planar Off-Road Conditions: by Ramón González, Francisco Rodríguez, José Luis Guzmán

By Ramón González, Francisco Rodríguez, José Luis Guzmán

This monograph is framed in the context of off-road cellular robotics. specifically, it discusses matters concerning modelling, localization, and movement keep watch over of tracked cellular robots operating in planar slippery stipulations. Tracked locomotion constitutes a widely known resolution for cellular systems working over different tough terrains, for this reason, tracked robotics constitutes a huge examine box with many functions (e.g. agriculture, mining, seek and rescue operations, army activities). the categorical themes of this monograph are: old standpoint of tracked automobiles and tracked robots; trajectory-tracking version considering slip influence; visual-odometry-based localization concepts; and complicated slip-compensation movement controllers making sure effective real-time execution. actual experiments with a true tracked robotic are offered displaying the higher functionality of the instructed novel methods to identified options.

key terms: longitudinal slip, visible odometry, slip-compensation regulate, strong predictive keep an eye on, trajectory tracking.

similar matters: Robotics – Mechanical Engineering – Mechanics – laptop technological know-how – man made Intelligence - Applications

Show description

Read Online or Download Autonomous Tracked Robots in Planar Off-Road Conditions: Modelling, Localization, and Motion Control PDF

Best robotics & automation books

BUILD A REMOTECONTROLLED ROBOT DAVID R SHIRCLIFF

TAB Electronics is the top-rated identify in beginner robotics. because the 1987 free up of Gordon McComb's blockbuster robotic Builder's Bonanza hobbyists have regarded to TAB because the resource for state of the art, how-to robotics titles.
These groundbreaking, seriously illustrated books clarify easy methods to create everythinbg from uncomplicated, uncomplicated robots to ones that stroll, see, consider, speak, hear and struggle! Written through "professors of robotics" reminiscent of Gordon McComb and John Iovine, they are nice for newcomers in addition to skilled robotic builders.
Authoritative, leading edge, enjoyable, and regularly a long way prior to someone else, TAB keeps the culture with construct your individual Remote-Controlled robotic.

Moral Machines: Teaching Robots Right from Wrong

This publication combines the information of top commentators on ethics, equipment of imposing AI, and the hazards of AI, right into a set of rules on how machines should in achieving moral behavior.

The publication normally offers a correct survey of what these commentators agree and disagree approximately. yet there is adequate confrontation that we'd like a few insights into which perspectives are right (especially approximately theories of ethics) to be able to produce precious suggestion to AI designers, and the authors do not have these different types of insights.

The booklet focuses extra on close to time period dangers of software program that's less clever than people, and is complacent in regards to the hazards of superhuman AI.

The implications of superhuman AIs for theories of ethics should remove darkness from flaws in them that are not seen while contemplating only human-level intelligence. for instance, they point out a controversy that any AI might worth people for his or her variety of principles, which might aid AIs to go looking the distance of attainable rules. This turns out to have critical difficulties, corresponding to what stops an AI from twiddling with human minds to extend their variety? but the authors are too considering human-like minds to visualize an intelligence which might do that.

Their dialogue of the advocates pleasant AI turns out a piece careworn. The authors wonder whether these advocates try to quell apprehension approximately AI dangers, while i have saw lovely constant efforts through these advocates to create apprehension between AI researchers.

Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems

This ebook explores rising equipment and algorithms that permit certain keep watch over of micro-/nano-positioning structures. The textual content describes 3 keep watch over options: hysteresis-model-based feedforward keep an eye on and hysteresis-model-free suggestions regulate in keeping with and unfastened from kingdom commentary. each one paradigm gets devoted recognition inside a specific a part of the textual content.

Towards Integrating Control and Information Theories: From Information-Theoretic Measures to Control Performance Limitations

This ebook investigates the functionality difficulty concerns in networked suggestions structures. the truth that networked suggestions platforms encompass keep watch over and verbal exchange units and platforms demands the mixing of keep watch over conception and knowledge concept. the first contributions of this booklet lie in elements: the newly-proposed information-theoretic measures and the newly-discovered regulate functionality barriers.

Extra info for Autonomous Tracked Robots in Planar Off-Road Conditions: Modelling, Localization, and Motion Control

Example text

Squared Trajectory In this experiment, the robot was manually driven on a sunlit illuminated gravel terrain following a squared trajectory. The lighting conditions did not produce any significant shadows during the experiment in this case. 7 shows two frames employed by the vision-based localization technique during this experiment. 5). (a) Panoramic view (b) Ground view Fig. 8a shows the resulting trajectories. 3 Results 51 particularly, odometry fails at turns. The trajectory obtained using the image sequence from the camera pointing at the ground (referred to as “VO”) to estimate orientation (see Remark 5) is also plotted, and it has a similar result to that obtained using the approach combining information from both cameras (visual odometry with visual compass).

Notice that in order to validate the trajectories obtained with the EKM and the CKM, the global position (Latitude/Longitude) has been converted to Universal Transverse Mercator (UTM) grid system [51], and hence to relative position from the starting point. 70 [s] for the Doppler radar readings. 7a. 7b. 7c shows a comparison of the trajectories obtained using the kinematic models. In this case, the trajectory obtained using the EKM closely follows to the ground-truth obtained from DGPS. 78 [m].

Where images with few high gradients are grabbed. On the other hand, the template matching approach works properly in low texture scenarios, since a larger pattern (template) is employed, and, therefore, the probability of a successful matching is increased [73]. Previous discussion motivates why the template matching method has been selected in this book. However, it is important to remark that if the matching process fails (false matches), the robot motion estimate can become degraded. In order to minimize this shortcoming, especially undesirable estimating robot orientation, a second camera is added.

Download PDF sample

Rated 4.16 of 5 – based on 28 votes