3D-Position Tracking and Control for All-Terrain Robots by Pierre Lamon

By Pierre Lamon

Rough terrain robotics is a quick evolving box of analysis and many attempt is deployed in the direction of permitting a better point of autonomy for outside automobiles. This ebook demonstrates how the accuracy of 3D place monitoring could be greater through contemplating rover locomotion in tough terrain as a holistic challenge. even supposing the choice of acceptable sensors is essential to properly song the rover’s place, it's not the single point to contemplate. certainly, using an unadapted locomotion suggestion critically impacts the sign to noise ratio of the sensors, which ends up in bad movement estimates. during this paintings, a mechanical constitution permitting soft movement throughout hindrances with restricted wheel slip is used. particularly, it permits using odometry and inertial sensors to enhance the placement estimation in tough terrain. a style for computing 3D movement increments in accordance with the wheel encoders and chassis nation sensors is built. since it bills for the kinematics of the rover, this system presents higher effects than the traditional procedure. To additional enhance the accuracy of the location monitoring and the rover’s mountain climbing functionality, a controller minimizing wheel slip is built. The set of rules runs on-line and will be tailored to any type of passive wheeled rover. ultimately, sensor fusion utilizing 3D-Odometry, inertial sensors and visible movement estimation in line with stereovision is gifted. The experimental effects reveal how each one sensor contributes to extend the accuracy and robustness of the 3D place estimation.

Show description

Read or Download 3D-Position Tracking and Control for All-Terrain Robots PDF

Similar system theory books

Elastoplasticity Theory

Knowing the elastoplastic deformation of metals and geomaterials, together with the constitutive description of the fabrics and research of constitution present process plastic deformation, is a necessary a part of the heritage required by way of mechanical, civil, and geotechnical engineers in addition to fabrics scientists.

Chaotic Logic - Language, Mind and Reality from the Perspective of Complex Systems Science

This booklet summarizes a community of interrelated rules which i've got built, on and off, over the last 8 or ten years. The underlying subject matter is the mental interaction of order and chaos. Or, to place it in a different way, the interaction of deduction and induction. i'll attempt to clarify the connection among logical, orderly, unsleeping, rule-following cause and fluid, self­ organizing, habit-governed, subconscious, chaos-infused instinct.

Studies on the Optimal Search Plan

Seek concept is worried with the site of a 'target' given vague info bearing on its situation. the topic has numerous functions corresponding to finding lacking humans in barren region or at sea, trying to find mineral deposits, scientific analysis, and looking for malfunctions in business strategies.

System Engineering Approach to Planning Anticancer Therapies

This booklet makes a speciality of the research of melanoma dynamics and the mathematically dependent synthesis of anticancer remedy. It summarizes the present cutting-edge during this box and clarifies universal misconceptions approximately mathematical modeling in melanoma. also, it encourages nearer cooperation among engineers, physicians and mathematicians by means of displaying the transparent merits of this with no mentioning unrealistic pursuits.

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

Sample text

Our optimization method, whose scheme is presented in Fig. 5, uses a combination of several modules. Each module is activated alternatively depending on the result of the previous module in the chain. The first step of the optimization process consists of initializing the algorithm with a set of torques that satisfy the model. 2 for the proof). Then, this solution is checked against the physical constraints: a. positive normal force: the normal forces Ni must be greater than zero (the asymptotes of the hyperbolic functions define the sign inversion limit) b.

2 Experimental Results The Shrimp breadboard (see Fig. 5) has been used to compare the performance of 3D-Odometry and the standard method. In order to facilitate the estimation of the ground-truth, we used obstacles of known shape: this allows computation of 28 3D-Odometry the true trajectory of the rover using its kinematic model and the geometric dimensions of the obstacles. The rover was remotely controlled several times over the obstacles and the trajectories were computed online with both 3D-Odometry and the standard method.

However, monocular vision provides only scaleless motion information. This information has to be completed with metric data to obtain metric estimations. Range imagers such as stereovision are valuable sensors for outdoor applications. For example, the MER rovers are equipped with two stereovision systems that are used for terrain traversability analysis and visual odometry [27, 22]. The principle of visual odometry is to compute an estimate of the robot’s motion on the base of a set of 3D point-to-point matches (see Appendix D).

Download PDF sample

Rated 4.96 of 5 – based on 15 votes