Autonomous Tracked Robots in Planar Off-Road Conditions: by Ramón González, Francisco Rodríguez, José Luis Guzmán

By Ramón González, Francisco Rodríguez, José Luis Guzmán

This monograph is framed in the context of off-road cellular robotics. specifically, it discusses concerns regarding modelling, localization, and movement keep an eye on of tracked cellular robots operating in planar slippery stipulations. Tracked locomotion constitutes a well known answer for cellular structures working over varied hard terrains, therefore, tracked robotics constitutes an incredible study box with many functions (e.g. agriculture, mining, seek and rescue operations, army activities). the explicit issues of this monograph are: ancient point of view of tracked autos and tracked robots; trajectory-tracking version bearing in mind slip influence; visual-odometry-based localization concepts; and complicated slip-compensation movement controllers making sure effective real-time execution. actual experiments with a true tracked robotic are offered displaying the higher functionality of the advised novel techniques to identified options.

key phrases: longitudinal slip, visible odometry, slip-compensation regulate, powerful predictive regulate, trajectory tracking.

similar topics: Robotics – Mechanical Engineering – Mechanics – computing device technological know-how – synthetic Intelligence - Applications

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10b. 10c shows a comparison of the trajectories obtained using the kinematic models. 93 [m]. 29 [%] for the CKM. Although the longitudinal travelled distance obtained using the EKM is smaller than the ground-truth, the Euclidean distance between the ground-truth and the trajectory obtained using the EKM is smaller than in the case of the CKM. 7 Results 29 (a) Mobile robot (b) Detail of the soil Trajectories Slips 100 Right track Left track 0 80 Slip [%] Y [m] −1 Reference CKM EKM DGPS −2 −3 60 40 20 −4 −5 0 5 10 X [m] 15 20 25 (c) Travelled distances 0 0 5 10 15 20 25 Time [s] (d) Slip (Doppler radar and encoders) Fig.

Squared Trajectory In this experiment, the robot was manually driven on a sunlit illuminated gravel terrain following a squared trajectory. The lighting conditions did not produce any significant shadows during the experiment in this case. 7 shows two frames employed by the vision-based localization technique during this experiment. 5). (a) Panoramic view (b) Ground view Fig. 8a shows the resulting trajectories. 3 Results 51 particularly, odometry fails at turns. The trajectory obtained using the image sequence from the camera pointing at the ground (referred to as “VO”) to estimate orientation (see Remark 5) is also plotted, and it has a similar result to that obtained using the approach combining information from both cameras (visual odometry with visual compass).

8a. 8b. 5 −5 0 5 60 40 20 10 X [m] 15 20 (c) Travelled distances 25 0 0 5 10 15 20 25 Time [s] (d) Slip (Doppler radar and encoders) Fig. 7 Model validation on sand soil obtained using the kinematic models does not follow the ground-truth due to the open-loop nature of the experiments. Nevertheless, the EKM follows better the ground-truth than the CKM. 46 [m]. 52 [%] for the CKM. Again, the travelled distance obtained using CKM largely deviates from the ground-truth due to slip effect. 8d shows the slips of each track.

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