Mobile Robots In Rough Terrain
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Mobile Robots In Rough Terrain
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Author : Karl Iagnemma
language : en
Publisher: Springer Science & Business Media
Release Date : 2004-07-08
Mobile Robots In Rough Terrain written by Karl Iagnemma and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-07-08 with Technology & Engineering categories.
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.
Slam Techniques Application For Mobile Robot In Rough Terrain
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Author : Andrii Kudriashov
language : en
Publisher: Springer Nature
Release Date : 2020-07-08
Slam Techniques Application For Mobile Robot In Rough Terrain written by Andrii Kudriashov and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-07-08 with Technology & Engineering categories.
This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system’s development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots’ homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.
3d Position Tracking And Control For All Terrain Robots
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Author : Pierre Lamon
language : en
Publisher: Springer
Release Date : 2008-02-12
3d Position Tracking And Control For All Terrain Robots written by Pierre Lamon and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-02-12 with Technology & Engineering categories.
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.
Handbook Of Research On Advancements In Robotics And Mechatronics
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Author : Habib, Maki K.
language : en
Publisher: IGI Global
Release Date : 2014-12-31
Handbook Of Research On Advancements In Robotics And Mechatronics written by Habib, Maki K. and has been published by IGI Global this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-12-31 with Technology & Engineering categories.
The field of mechatronics integrates modern engineering science and technologies with new ways of thinking, enhancing the design of products and manufacturing processes. This synergy enables the creation and evolution of new intelligent human-oriented machines. The Handbook of Research on Advancements in Robotics and Mechatronics presents new findings, practices, technological innovations, and theoretical perspectives on the the latest advancements in the field of mechanical engineering. This book is of great use to engineers and scientists, students, researchers, and practitioners looking to develop autonomous and smart products and systems for meeting today’s challenges.
Informatics In Control Automation And Robotics
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Author : Jean-Louis Ferrier
language : en
Publisher: Springer Science & Business Media
Release Date : 2014-01-06
Informatics In Control Automation And Robotics written by Jean-Louis Ferrier and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-01-06 with Technology & Engineering categories.
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.
Intelligent Robotics And Applications
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Author : Chun-Yi Su
language : en
Publisher: Springer
Release Date : 2012-09-28
Intelligent Robotics And Applications written by Chun-Yi Su and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-09-28 with Computers categories.
The three volume set LNAI 7506, LNAI 7507 and LNAI 7508 constitutes the refereed proceedings of the 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012, held in Montreal, Canada, in October 2012. The 197 revised full papers presented were thoroughly reviewed and selected from 271 submissions. They present the state-of-the-art developments in robotics, automation and mechatronics. This volume covers the topics of robot actuators and sensors; robot design, development and control; robot intelligence, learning and linguistics; robot mechanism and design; robot motion analysis and planning; robotic vision, recognition and reconstruction; and planning and navigation.
Autonomous Tracked Robots In Planar Off Road Conditions
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Author : Ramón González
language : en
Publisher: Springer Science & Business Media
Release Date : 2014-03-22
Autonomous Tracked Robots In Planar Off Road Conditions written by Ramón González and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-03-22 with Technology & Engineering categories.
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
Emerging Trends In Mobile Robotics
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Author : Hideo Fujimoto
language : en
Publisher: World Scientific
Release Date : 2010
Emerging Trends In Mobile Robotics written by Hideo Fujimoto and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Technology & Engineering categories.
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2010 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Intelligent Autonomous Systems 15
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Author : Marcus Strand
language : en
Publisher: Springer
Release Date : 2018-12-31
Intelligent Autonomous Systems 15 written by Marcus Strand and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-12-31 with Technology & Engineering categories.
This book presents the latest advances and research achievements in the fields of autonomous robots and intelligent systems, presented at the IAS-15 conference, held in Baden-Baden, Germany, in June 2018. It brings together contributions from researchers, engineers and practitioners from all over the world on the main trends of robotics: navigation, path planning, robot vision, human detection, and robot design – as well as a wide range of applications. This installment of the conference reflects the rise of machine learning and deep learning in the robotics field, as employed in a variety of applications and systems. All contributions were selected using a rigorous peer-review process to ensure their scientific quality. The series of biennial IAS conferences was started in 1986: since then, it has become an essential venue for the robotics community.
Springer Handbook Of Robotics
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Author : Bruno Siciliano
language : en
Publisher: Springer
Release Date : 2016-07-27
Springer Handbook Of Robotics written by Bruno Siciliano and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-07-27 with Technology & Engineering categories.
The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/