Mobile robots in rough terrain: estimation, motion planning, and control with application to planetary rovers
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Berlin [u.a.]
Springer
2004
|
| Series: | Springer tracts in advanced robotics
12 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XII, 110 S. Ill., graph. Darst. |
| ISBN: | 3540219684 |
Staff View
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Record in the Search Index
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| adam_text | K. IAGNEMMA * S. DUBOWSKY MOBILE ROBOTS IN ROUGH TERRAIN ESTIMATION,
MOTION PLANNING, AND CONTROL WITH APPLICATION TO PLANETARY ROVERS WITH
58 FIGURES SPRINGER TABLE OF CONTENTS CHAPTER 1 INTRODUCTION 1 1.1
PROBLEM STATEMENT AND MOTIVATION 1 1.2 PURPOSE OF THIS MONOGRAPH 3 1.3
BACKGROUND AND LITERATURE REVIEW 4 1.3.1 ROUGH TERRAIN MODELING AND
ESTIMATION 4 1.3.2 ROUGH TERRAIN MOTION PLANNING 7 1.3.3 ROUGH TERRAIN
CONTROL 11 1.4 OUTLINE OF THIS MONOGRAPH 13 1.5 ASSUMPTIONS 13 CHAPTER 2
ROUGH TERRAIN MOBILE ROBOT MODELING AND ESTIMATION ...17 2.1
INTRODUCTION 17 2.2 ROBOT KINEMATIC AND FORCE ANALYSIS 18 2.2.1 ROBOT
KINEMATIC ANALYSIS 18 2.2.2 ROBOT FORCE ANALYSIS 21 2.3 TERRAIN
CHARACTERIZATION AND IDENTIFICATION 24 2.3.1 EQUATION SIMPLIFICATION 27
2.3.2 SENSING AND IMPLEMENTATION ISSUES 31 2.4 RESULTS: TERRAIN
IDENTIFICATION 33 2.4.1 SIMULATION RESULTS 33 2.4.2 EXPERIMENTAL RESULTS
35 2.5 WHEEL-TERRAIN CONTACT ANGLE ESTIMATION 39 2.5.1 EXTENDED KAIMAN
FILTER IMPLEMENTATION 42 2.6 RESULTS: WHEEL-TERRAIN CONTACT ANGLE
IDENTIFICATION 44 2.6.1 SIMULATION RESULTS 44 2.6.2 EXPERIMENTAL RESULTS
45 2.7 SUMMARY AND CONCLUSIONS 50 CHAPTER 3 ROUGH TERRAIN MOTION
PLANNING 51 3.1 INTRODUCTION 51 3.2 ROUGH TERRAIN MOTION PLANNING 52
3.2.1 STEP ONE: RAPID PATH SEARCH 52 3.2.2 STEP TWO: MODEL-BASED
EVALUATION 57 3.2.3 UNCERTAINTY IN ROUGH TERRAIN MOTION PLANNING 59 XII
TABLE OF CONTENTS 3.2.4. INCORPORATING UNCERTAINTY IN THE RAPID PATH
SEARCH 61 3.2.5. INCORPORATING UNCERTAINTY IN THE MODEL-BASED
EVALUATION....62 3.3 SIMULATION RESULTS*ROUGH TERRAIN PLANNING 65 3.4
ROUGH TERRAIN ARTICULATED SUSPENSION CONFIGURATION PLANNING....70 3.4.1
ARTICULATED SUSPENSION CONFIGURATION PLANNING PROBLEM DESCRIPTION 70
3.4.2 MOBILITY ANALYSIS 71 3.4.3 ARTICULATED SUSPENSION CONFIGURATION
PLANNING FOR ENHANCED TIPOVER STABILITY 72 3.5 RESULTS*ROUGH TERRAIN
ARTICULATED SUSPENSION CONFIGURATION PLANNING 75 3.5.1 SIMULATION
RESULTS 75 3.5.2 EXPERIMENTAL RESULTS 76 3.6 SUMMARY AND CONCLUSIONS 79
CHAPTER 4 ROUGH TERRAIN CONTROL 81 4.1 INTRODUCTION 81 4.2 MOBILE ROBOT
ROUGH TERRAIN CONTROL (RTC) 82 4.3 WHEEL-TERRAIN CONTACT FORCE
OPTIMIZATION 84 4.3.1 OPTIMIZATION CRITERIA 84 4.3.2 PROBLEM CONSTRAINTS
86 4.4 RESULTS*ROUGH TERRAIN CONTROL 87 4.4.1 SIMULATION RESULTS 87
4.4.2 EXPERIMENTAL RESULTS 92 4.5 SUMMARY AND CONCLUSIONS 96 CHAPTER 5
CONCLUSIONS AND SUGGESTIONS FOR FUTURE WORK 97 5.1 CONTRIBUTIONS OF THIS
MONOGRAPH 97 5.2 SUGGESTIONS FOR FURTHER WORK 98 REFERENCES 101 INDEX
|
| any_adam_object | 1 |
| author | Iagnemma, Karl Dubowsky, Steven |
| author_facet | Iagnemma, Karl Dubowsky, Steven |
| author_role | aut aut |
| author_sort | Iagnemma, Karl |
| author_variant | k i ki s d sd |
| building | Verbundindex |
| bvnumber | BV019304903 |
| callnumber-first | T - Technology |
| callnumber-label | TJ211 |
| callnumber-raw | TJ211.415 |
| callnumber-search | TJ211.415 |
| callnumber-sort | TJ 3211.415 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ZQ 6230 ZQ 6250 |
| ctrlnum | (OCoLC)56014368 (DE-599)BVBBV019304903 |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| illustrated | Illustrated |
| indexdate | 2024-07-09T19:57:13Z |
| institution | BVB |
| isbn | 3540219684 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-012772965 |
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| physical | XII, 110 S. Ill., graph. Darst. |
| publishDate | 2004 |
| publishDateSearch | 2004 |
| publishDateSort | 2004 |
| publisher | Springer |
| record_format | marc |
| series | Springer tracts in advanced robotics |
| series2 | Springer tracts in advanced robotics |
| spelling | Iagnemma, Karl Verfasser aut Mobile robots in rough terrain estimation, motion planning, and control with application to planetary rovers K. Iagnemma ; S. Dubowsky Berlin [u.a.] Springer 2004 XII, 110 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Springer tracts in advanced robotics 12 Robots - Commande, Systèmes de Robots - Mouvements Robots mobiles Robótica lemb Mobile robots Robots Control systems Robots Motion Rauigkeit (DE-588)4128988-2 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Bahnsteuerung (DE-588)4042803-5 gnd rswk-swf Boden (DE-588)4007348-8 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 s Bahnplanung (DE-588)4267628-9 s Boden (DE-588)4007348-8 s Rauigkeit (DE-588)4128988-2 s DE-604 Bahnsteuerung (DE-588)4042803-5 s Dubowsky, Steven Verfasser aut Springer tracts in advanced robotics 12 (DE-604)BV016421724 12 GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012772965&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Iagnemma, Karl Dubowsky, Steven Mobile robots in rough terrain estimation, motion planning, and control with application to planetary rovers Springer tracts in advanced robotics Robots - Commande, Systèmes de Robots - Mouvements Robots mobiles Robótica lemb Mobile robots Robots Control systems Robots Motion Rauigkeit (DE-588)4128988-2 gnd Bahnplanung (DE-588)4267628-9 gnd Bahnsteuerung (DE-588)4042803-5 gnd Boden (DE-588)4007348-8 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| subject_GND | (DE-588)4128988-2 (DE-588)4267628-9 (DE-588)4042803-5 (DE-588)4007348-8 (DE-588)4191911-7 |
| title | Mobile robots in rough terrain estimation, motion planning, and control with application to planetary rovers |
| title_auth | Mobile robots in rough terrain estimation, motion planning, and control with application to planetary rovers |
| title_exact_search | Mobile robots in rough terrain estimation, motion planning, and control with application to planetary rovers |
| title_full | Mobile robots in rough terrain estimation, motion planning, and control with application to planetary rovers K. Iagnemma ; S. Dubowsky |
| title_fullStr | Mobile robots in rough terrain estimation, motion planning, and control with application to planetary rovers K. Iagnemma ; S. Dubowsky |
| title_full_unstemmed | Mobile robots in rough terrain estimation, motion planning, and control with application to planetary rovers K. Iagnemma ; S. Dubowsky |
| title_short | Mobile robots in rough terrain |
| title_sort | mobile robots in rough terrain estimation motion planning and control with application to planetary rovers |
| title_sub | estimation, motion planning, and control with application to planetary rovers |
| topic | Robots - Commande, Systèmes de Robots - Mouvements Robots mobiles Robótica lemb Mobile robots Robots Control systems Robots Motion Rauigkeit (DE-588)4128988-2 gnd Bahnplanung (DE-588)4267628-9 gnd Bahnsteuerung (DE-588)4042803-5 gnd Boden (DE-588)4007348-8 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| topic_facet | Robots - Commande, Systèmes de Robots - Mouvements Robots mobiles Robótica Mobile robots Robots Control systems Robots Motion Rauigkeit Bahnplanung Bahnsteuerung Boden Mobiler Roboter |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012772965&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV016421724 |
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