3D-Position Tracking and Control for All-Terrain Robots

• Main Author: Lamon, Pierre (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2008.
• Series: Springer Tracts in Advanced Robotics, 43
• Subjects: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Automation.; Robotics and Automation.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.

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 holisti...

Table of Contents:

• The SOLERO Rover
• 3D-Odometry
• Control in Rough-Terrain
• Position Tracking in Rough-Terrain
• Conclusion
• Kinematic and Quasi-static Model of SOLERO
• Linearized Models
• The Gauss–Markov Process
• Visual Motion Estimation.