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 ofan unadapted locomotion concept severely affects the signal to noise ratio ofthe sensors, which leads to poor motion estimates. In this work, a mechanicalstructure 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. Presents an innovative robotic architecture for rough terrain robotics Holistic approach with focus on system integration Experimental results INDICE: Introduction.- The SOLERO Rover.- 3D-Odometry.- Control in Rough-Terrain.- Position Tracking in Rough-Terrain.- Conclusion.- A Kinematic and Quasi-static Model of SOLERO.- B Linearized Models.- C The Gauss-Markov Process.-D Visual Motion Estimation.
- ISBN: 978-3-540-78286-5
- Editorial: Springer
- Encuadernacion: Cartoné
- Páginas: 110
- Fecha Publicación: 01/04/2008
- Nº Volúmenes: 1
- Idioma: Inglés