New PDF release: 3D-Position Tracking and Control for All-Terrain Robots

By Pierre Lamon

ISBN-10: 3540782869

ISBN-13: 9783540782865

Rough terrain robotics is a quick evolving box of analysis and many attempt is deployed in the direction of allowing a better point of autonomy for outside automobiles. This e-book demonstrates how the accuracy of 3D place monitoring could be more desirable through contemplating rover locomotion in tough terrain as a holistic challenge. even if the choice of applicable sensors is important to thoroughly music the rover’s place, it's not the single element to think about. certainly, using an unadapted locomotion inspiration critically impacts the sign to noise ratio of the sensors, which results in bad movement estimates. during this paintings, a mechanical constitution permitting delicate movement throughout hindrances with restricted wheel slip is used. specifically, it allows using odometry and inertial sensors to enhance the placement estimation in tough terrain. a style for computing 3D movement increments in keeping with the wheel encoders and chassis kingdom sensors is built. since it debts for the kinematics of the rover, this system offers larger effects than the traditional method. To extra increase the accuracy of the placement 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 response to stereovision is gifted. The experimental effects exhibit how every one sensor contributes to extend the accuracy and robustness of the 3D place estimation.

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Unlike other control Summary 51 strategies, the proposed method does not require the use of soil models, instead it estimates the rolling resistance as the robot moves. As a consequence, the rover is able to operate on different types of soil, which is the main requirement for exploration missions. Furthermore, our approach can be adapted to any kind of wheeled rover and the needed processing power remains low, which enables online computation. The simulations showed that such a controller performs better than a reactive controller and that the system is mature enough to be implemented on the rover for real experiments.

The worst case is about 31 ms but most cases (71%) are handled by A, which takes only 6 ms. A. Fixed-point Optimization This optimization method is based on the fixed-point algorithm. The aim of this algorithm is to numerically find the intersection of functions when an analytical solution is difficult or impossible to obtain. In our case, the optimal solution corresponds to the intersection of μ1 , μ2 and μ3 . The corresponding flow chart of the algorithm is presented in Fig. 6. This algorithm is computationally light and provides good results for most cases.

For example, five generalized forces are introduced for a pin joint (mo = 1): only one rotation is free, while all the translations (3 forces) and the remaining rotations (2 torques) are blocked. Model of SOLERO SOLERO has 18 parts and is characterized by 6×18 = 108 independent equations describing the static equilibrium of each part and involving 14 external ground forces, 6 internal wheel torques and 93 internal forces and torques for a total of 113 unknowns. The weight of the fork and the bogies’ link has been neglected, whereas the weight of the main body and the wheels is considered.

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


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