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SLAM Techniques Application for Mobile Robot in Rough Terrain [electronic resource] / by Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka.

By: Kudriashov, Andrii [author.].
Contributor(s): Buratowski, Tomasz [author.] | Giergiel, Mariusz [author.] | Małka, Piotr [author.] | SpringerLink (Online service).
Material type: materialTypeLabelBookSeries: Mechanisms and Machine Science: 87Publisher: Cham : Springer International Publishing : Imprint: Springer, 2020Edition: 1st ed. 2020.Description: IX, 131 p. 109 illus., 76 illus. in color. online resource.Content type: text Media type: computer Carrier type: online resourceISBN: 9783030489816.Subject(s): Machinery | Control engineering | Robotics | Automation | Computational intelligence | Machinery and Machine Elements | Control, Robotics, Automation | Computational IntelligenceAdditional physical formats: Printed edition:: No title; Printed edition:: No title; Printed edition:: No titleDDC classification: 621.8 Online resources: Click here to access online
Contents:
Introduction -- Robotic inspection of pipelines -- Design of a pipeline inspection mobile robot with an active adaptation mechanism -- Mathematical modeling of the robot -- Simulations of the robot adaptation and motion in various environments -- Control system design and implementation -- Prototype of the pipe inspection robot -- Discussion, conclusions and future work.
In: Springer Nature eBookSummary: This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system’s development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots’ homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.
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Introduction -- Robotic inspection of pipelines -- Design of a pipeline inspection mobile robot with an active adaptation mechanism -- Mathematical modeling of the robot -- Simulations of the robot adaptation and motion in various environments -- Control system design and implementation -- Prototype of the pipe inspection robot -- Discussion, conclusions and future work.

This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system’s development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots’ homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.

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