By Ramón González, Francisco Rodríguez, José Luis Guzmán
This monograph is framed in the context of off-road cellular robotics. particularly, it discusses concerns concerning modelling, localization, and movement keep an eye on of tracked cellular robots operating in planar slippery stipulations. Tracked locomotion constitutes a well known resolution for cellular systems working over diversified not easy terrains, hence, tracked robotics constitutes a major learn box with many purposes (e.g. agriculture, mining, seek and rescue operations, army activities). the explicit subject matters of this monograph are: old point of view of tracked autos and tracked robots; trajectory-tracking version considering slip impression; visual-odometry-based localization recommendations; and complicated slip-compensation movement controllers making sure effective real-time execution. actual experiments with a true tracked robotic are provided exhibiting the higher functionality of the steered novel ways to recognized suggestions.
key words: longitudinal slip, visible odometry, slip-compensation keep an eye on, powerful predictive keep watch over, trajectory tracking.
similar topics: Robotics – Mechanical Engineering – Mechanics – machine technological know-how – synthetic Intelligence - Applications
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Extra resources for Autonomous Tracked Robots in Planar Off-Road Conditions: Modelling, Localization, and Motion Control
4 Localization Approach Combining Visual Odometry with Visual Compass Summing up, the localization scheme presented here based on visual odometry and visual compass operates as follows: 1. Acquire a pair of consecutive frames from each camera. 2. Select the template from images taken at time t = τ − 1. 3. 1). 5). 4. 7). 5. 8). 6. 13). 7. 14). 8. Repeat from step 1. 5 Computational Aspects of Template Matching This subsection discusses some experiments carried out to select the most appropriate template/search area size for a satisfactory performance of the correlation algorithm and the employed computation time.
Gonz´ alez, F. L. 1007/978-3-319-06038-5_3, c Springer International Publishing Switzerland 2014 35 36 3 Localization of Tracked Robots in Planar Oﬀ-Road Conditions An attractive alternative is the use of absolute or global techniques. These techniques determine the position of the robot with respect to a global reference frame, for instance, using beacons or landmarks [30, 118]. The most popular technique is GPS, which is based on satellite signals to determine the absolute position of an object on the Earth (longitude, latitude and altitude) .
10c shows a comparison of the trajectories obtained using the kinematic models. 93 [m]. 29 [%] for the CKM. Although the longitudinal travelled distance obtained using the EKM is smaller than the ground-truth, the Euclidean distance between the ground-truth and the trajectory obtained using the EKM is smaller than in the case of the CKM. 7 Results 29 (a) Mobile robot (b) Detail of the soil Trajectories Slips 100 Right track Left track 0 80 Slip [%] Y [m] −1 Reference CKM EKM DGPS −2 −3 60 40 20 −4 −5 0 5 10 X [m] 15 20 25 (c) Travelled distances 0 0 5 10 15 20 25 Time [s] (d) Slip (Doppler radar and encoders) Fig.