mobile robots in rough terrain estimation motion planning and control with application to planetary rovers springer tracts in advanced robotics

Download Book Mobile Robots In Rough Terrain Estimation Motion Planning And Control With Application To Planetary Rovers Springer Tracts In Advanced Robotics in PDF format. You can Read Online Mobile Robots In Rough Terrain Estimation Motion Planning And Control With Application To Planetary Rovers Springer Tracts In Advanced Robotics here in PDF, EPUB, Mobi or Docx formats.

Mobile Robots In Rough Terrain

Author : Karl Iagnemma
ISBN : 3540219684
Genre : Technology & Engineering
File Size : 90. 66 MB
Format : PDF, Docs
Download : 122
Read : 594

Download Now


This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.

Planetary Rovers

Author : Alex Ellery
ISBN : 9783642032592
Genre : Technology & Engineering
File Size : 64. 10 MB
Format : PDF, Kindle
Download : 342
Read : 533

Download Now


This will be the only book on planetary rover development covering all aspects relevant to the design of systems

3d Position Tracking And Control For All Terrain Robots

Author : Pierre Lamon
ISBN : 9783540782872
Genre : Technology & Engineering
File Size : 43. 84 MB
Format : PDF, ePub
Download : 759
Read : 1077

Download Now


Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. This book demonstrates how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. Although the selection of appropriate sensors is crucial to accurately track the rover’s position, it is not the only aspect to consider. Indeed, the use of an unadapted locomotion concept severely affects the signal to noise ratio of the sensors, which leads to poor motion estimates. In this work, a mechanical structure allowing smooth motion across obstacles with limited wheel slip is used. In particular, it enables the use of odometry and inertial sensors to improve the position estimation in rough terrain. A method for computing 3D motion increments based on the wheel encoders and chassis state sensors is developed. Because it accounts for the kinematics of the rover, this method provides better results than the standard approach. To further improve the accuracy of the position tracking and the rover’s climbing performance, a controller minimizing wheel slip is developed. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.

Informatics In Control Automation And Robotics

Author : Jean-Louis Ferrier
ISBN : 9783319035000
Genre : Technology & Engineering
File Size : 77. 76 MB
Format : PDF, ePub, Mobi
Download : 582
Read : 684

Download Now


This book includes extended and revised versions of a set of selected papers from the Ninth International Conference on Informatics in Control Automation and Robotics (ICINCO 2012), held in Rome, Italy, from 28 to 31 July 2012. The conference was organized in four simultaneous tracks: Intelligent Control Systems and Optimization, Robotics and Automation, Systems Modeling, Signal Processing and Control and Industrial Engineering, Production and Management. ICINCO 2012 received 360 paper submissions, from 58 countries in all continents. From these, after a blind review process, only 40 were accepted as full papers, of which 20 were selected for inclusion in this book, based on the classifications provided by the Program Committee. The selected papers reflect the interdisciplinary nature of the conference as well as the logic equilibrium between the four abovementioned tracks. The diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and technological trends.

Autonomous Tracked Robots In Planar Off Road Conditions

Author : Ramon González
ISBN : 9783319060385
Genre : Technology & Engineering
File Size : 36. 27 MB
Format : PDF
Download : 690
Read : 505

Download Now


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

Experimental Robotics Viii

Author : Bruno Siciliano
ISBN : 9783540003052
Genre : Technology & Engineering
File Size : 52. 46 MB
Format : PDF, ePub, Docs
Download : 304
Read : 824

Download Now



Control Of Single Wheel Robots

Author : Yangsheng Xu
ISBN : 3540281843
Genre : Technology & Engineering
File Size : 31. 24 MB
Format : PDF, Docs
Download : 161
Read : 441

Download Now


This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land and water. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators. This novel mobile robot concept opens up the science of dynamically stable systems with a single wheel configuration. The book also presents considerations in concept, design implementations, and kinematics modeling, as well as experimental results from various algorithms and cases. The system is a nonholonomic, underactuated, and highly nonlinear system, so this book is appropriate for scientists and engineers with interests in mobile robot, dynamics and control, as a research reference and postgraduate textbook.

Visual Perception And Robotic Manipulation

Author : Geoffrey Taylor
ISBN : STANFORD:36105114453975
Genre : Computers
File Size : 38. 61 MB
Format : PDF, Mobi
Download : 622
Read : 329

Download Now


Accompanying CD-ROM contains ... "video clips, VRML data, C++ code with data sets and lecture slides."--P. [4] of cover.

Algorithmic Foundation Of Robotics Vii

Author : Srinivas Akella
ISBN : 9783540684053
Genre : Technology & Engineering
File Size : 54. 82 MB
Format : PDF, ePub
Download : 173
Read : 224

Download Now


Algorithms are a fundamental component of robotic systems: they control or reason about motion and perception in the physical world. They receive input from noisy sensors, consider geometric and physical constraints, and operate on the world through imprecise actuators. The design and analysis of robot algorithms therefore raises a unique combination of questions in control theory, computational and differential geometry, and computer science. This book contains the proceedings from the 2006 Workshop on the Algorithmic Foundations of Robotics. This biannual workshop is a highly selective meeting of leading researchers in the field of algorithmic issues related to robotics. The 32 papers in this book span a wide variety of topics: from fundamental motion planning algorithms to applications in medicine and biology, but they have in common a foundation in the algorithmic problems of robotic systems.

Field And Service Robotics

Author : Kazuya Yoshida
ISBN : 9783642406867
Genre : Technology & Engineering
File Size : 48. 44 MB
Format : PDF, ePub
Download : 764
Read : 946

Download Now


FSR, the International Conference on Field and Service Robotics, is the leading single track conference of robotics for field and service applications. This book presents the results of FSR2012, the eighth conference of Field and Service Robotics, which was originally planned for 2011 with the venue of Matsushima in Tohoku region of Japan. However, on March 11, 2011, a magnitude M9.0 earthquake occurred off the Pacific coast of Tohoku, and a large-scale disaster was caused by the Tsunami which resulted, therefore the conference was postponed by one year to July, 2012. In fact, this earthquake raised issues concerning the contribution of field and service robotics technology to emergency scenarios. A number of precious lessons were learned from operation of robots in the resulting, very real and challenging, disaster environments. Up-to-date study on disaster response, relief and recovery was then featured in the conference. This book offers 43 papers on a broad range of topics including: Disaster Response, Service/Entertainment Robots, Inspection/Maintenance Robots, Mobile Robot Navigation, Agricultural Robots, Robots for Excavation, Planetary Exploration, Large Area Mapping, SLAM for Outdoor Robots, and Elemental Technology for Mobile Robots.

Top Download:

Best Books