rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Autonomous Tracked Robots in Planar Off-Road Conditions
    sub title: Modelling, Localization, and Motion Control
  name:
    name part: González, Ramón.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Rodríguez, Francisco.
    role:
      role term: author.
  name:
    name part: Guzmán, José Luis.
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: gw
    date issued: 2014
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: VIII, 119 p. 56 illus., 27 illus. in color. online resource.
  abstract: 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 .
  table of contents: Introduction -- Modelling Tracked Robots in Planar O-Road Conditions -- Localization of Tracked Robots in Planar Road Conditions -- Adaptive Motion Controllers for Tracked Robots -- Robust Predictive Motion Controllers for Tracked Robots -- Conclusions and Future Works.
  note: by Ramón González, Francisco Rodríguez, José Luis Guzmán.
  subject:
    topic: Engineering
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Automation
  subject:
    topic: Engineering
  subject:
    topic: Robotics and Automation
  subject:
    topic: Control
  classification: TJ210.2-211.495
  classification: T59.5
  classification: 629.892
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Studies in Systems, Decision and Control, 6
  identifier: 9783319060385
  identifier: http://dx.doi.org/10.1007/978-3-319-06038-5
  record info:
    record creation date: 140322
    record change date: 20151204150732.0
    record identifier: 978-3-319-06038-5