دورات هندسية

 

 

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

النتائج 1 إلى 3 من 3
  1. [1]
    الصورة الرمزية سيطور
    سيطور
    سيطور غير متواجد حالياً

    عضو متميز

    تاريخ التسجيل: Jan 2008
    المشاركات: 504
    Thumbs Up
    Received: 0
    Given: 0

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

    Book Title: 3D-Position Tracking and Control for All-Terrain Robots
    ISBN: 978-3-540-78286-5

  2. [2]
    سبع الليل
    سبع الليل غير متواجد حالياً
    مشرف متميز
    الصورة الرمزية سبع الليل


    تاريخ التسجيل: Jul 2006
    المشاركات: 1,383

    وسام مشرف متميز

    Thumbs Up
    Received: 16
    Given: 0

    3D-Position Tracking and Control for All-Terrain



    3D-Position Tracking and Control for All-Terrain Robots (Springer Tracts in Advanced Robotics)
    By Pierre Lamon

    • Publisher: Springer
    • Number Of Pages: 108
    • Publication Date: 2008-05-01
    • ISBN-10 / ASIN: 3540782869
    • ISBN-13 / EAN: 9783540782865
    • Binding: Hardcover

      Product Description:
    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 of an unadapted locomotion concept severely affects the signal to noise ratio of the sensors, which leads to poor motion estimates. 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. Because it accounts for the kinematics of the rover, this method provides better results than the standard approach. To further improve the accuracy of the position tracking and the rover’s climbing performance, a controller minimizing wheel slip 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

    http://rs67tg.rapidshare.com/files/121382214/3DPT.pdf
    File Type : PDF
    File Size : 22460 KB

    0 Not allowed!




    اللهم اغفر لي ولوالدي والمسلمين أجمعين


  3. [3]
    سيطور
    سيطور غير متواجد حالياً
    عضو متميز
    الصورة الرمزية سيطور


    تاريخ التسجيل: Jan 2008
    المشاركات: 504
    Thumbs Up
    Received: 0
    Given: 0
    أشكرك اخي الفاضل

    0 Not allowed!


    ================================
    ================================

  
الكلمات الدلالية لهذا الموضوع

عرض سحابة الكلمة الدلالية

RSS RSS 2.0 XML MAP HTML