3D-Position Tracking and Control for All-Terrain Robots
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. In this work, a mechanical structure 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. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.
كتب مشابهة
Materials & sustainability building a circular future
Examines sustainable manufacturing, from the extraction of materials to processing, use, and disposal, and argues that significant changes in all of the above are needed for the world to progress toward a more circular economy. Materials and processing methods are usually chosen with performance as the key metric.
Composite materials : sustainable and eco-friendly materials and application
Covers innovations in the field of composite materials with a specific focus on eco-friendly and environmentally sustainable systems. All composite fields are explored, including polymer, metal, and ceramic matrix composites with an emphasis on sourcing raw materials in a sustainable way as well as the development of composite materials for environmental sustainability.
Building construction methods and systems : principles, requirements and application details
Presents practical information about the design and construction of building projects by addressing the principles of each method, unveiling background factors for requirements, and state-of-the-art application details, and presents general design and application principles of construction methods and technologies without diving into engineering calculations and formulas to keep the content easily understandable by all AEC practitioners and participants.
Material Modeling in Finite Element Analysis
Presents some specific problems including the metal-forming process, combustion room, Mullins effect of rubber tires, viscoelasticity of liver soft tissues, small punch test, tunnel excavation, slope stability, concrete slump test, orthodontic wire, and piezoelectric microaccelerometer.
