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2014 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Autonomous Tracked Robots in Planar Off-Road Conditions

Modelling, Localization, and Motion Control

verfasst von: Ramón González, Francisco Rodríguez, José Luis Guzmán

Verlag: Springer International Publishing

Buchreihe : Studies in Systems, Decision and Control

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

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Über dieses Buch

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

Inhaltsverzeichnis

Frontmatter
Introduction
Abstract
The origins of tracked vehicles are closely motivated by the idea of developing cross-country vehicles, that is, vehicles moving on off-road rough terrains (packed snow, muddy roads, loose sandy soils, etc.). In 1770, a patent by Richard L. Edgeworth firstly introduced the concept of what is known today as full-track [6]: “the invention cossets in making portable railways to wheel carriages so that several pieces of wood are connected to the carriage which it moves in regular succession in such a manner that a sufficient length of railing is constantly at rest for the wheels, to roll upon, and that when the wheels have nearly approached the extremity of this part of the railway, their motions shall lay down a fresh length of rail in front, the weight of which in its descent shall assist in raising such part of the rail as the weeks have already passed over, and thus the pieces of wood which are taken up in the rear are in succession laid in the front, so as to furnish constantly a railway for the weeks to roll on.”
Ramón González, Francisco Rodríguez, José Luis Guzmán
Modelling Tracked Robots in Planar Off-Road Conditions
Abstract
In the context of robotics, a model is defined as a set of mathematical differential equations that represents the behaviour of a robot. In this sense, kinematic and dynamic modelling constitutes a key issue related to off-road mobile robotics, since such models may be used to design appropriate mechanical structures [117, 125]; to design planning algorithms and motion controllers [58]; to estimate the robot localization [123]; and to implement software simulators [48], among others.
Ramón González, Francisco Rodríguez, José Luis Guzmán
Localization of Tracked Robots in Planar Off-Road Conditions
Abstract
Robot localization is defined as the process in which a mobile robot determines its current position and orientation relative to an inertial reference frame [124]. In the context of off-road mobile robots, localization techniques have to deal with the particular features of off-road conditions, such as a noisy environment (vibrations when the robot moves, disturbance sources, etc.), changing lighting conditions, high degrees of slip, and other inconveniences and disturbances.
Ramón González, Francisco Rodríguez, José Luis Guzmán
Adaptive Motion Controllers for Tracked Robots
Abstract
Mobile robots must have effective motion controllers that handle the properties of the surrounding environment. In this context, motion control is defined as a layer in the navigation architecture that generates the proper control actions to successfully steer the mobile robot through a desired trajectory. Particularly, motion controllers should be designed taking into account the robot-terrain interactions, such as the slip phenomena. In this sense, the motion control approaches for mobile robots in off-road conditions are usually achieved from two points of view.
Ramón González, Francisco Rodríguez, José Luis Guzmán
Robust Predictive Motion Controller for Tracked Robots
Abstract
As commented in previous chapters, when a mobile robot moves in off-road conditions some undesirable effects, such as noisy measurements and inaccurate robot location, are intensified. Additionally, simplified models are usually used for control design purposes. Thus, these factors can lead to uncertainties in the robot motion that may entail inappropriate control actions or even system instability. For that reason, research efforts for the application of robust control strategies in mobile robotics are required.
Ramón González, Francisco Rodríguez, José Luis Guzmán
Conclusions and Future Works
Abstract
When a tracked mobile robot operates in off-road conditions many disturbances and inconveniences can lead to a unsuccessful result. Some of these inconveniences deal with robot-terrain interaction, such as slip and sinkage phenomena, and with inaccurate robot localization. In this context, both a careful and precise design and a strict testing process have to be carried out to achieve a satisfactory and reliable result. The most important topics to be analyzed are: mechanical robot configuration, robot modelling, path planning, motion control, and robot localization.
Ramón González, Francisco Rodríguez, José Luis Guzmán
Backmatter
Metadaten
Titel
Autonomous Tracked Robots in Planar Off-Road Conditions
verfasst von
Ramón González
Francisco Rodríguez
José Luis Guzmán
Copyright-Jahr
2014
Electronic ISBN
978-3-319-06038-5
Print ISBN
978-3-319-06037-8
DOI
https://doi.org/10.1007/978-3-319-06038-5

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