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This monograph is framed within the context of off-road mobile
robotics. In particular, it discusses issues related to modelling,
localization, and motion control of tracked mobile robots working
in planar slippery conditions. Tracked locomotion constitutes a
well-known solution for mobile platforms operating over diverse
challenging terrains, for that reason, tracked robotics constitutes
an important research field with many applications (e.g.
agriculture, mining, search and rescue operations, military
activities). The specific topics of this monograph are: historical
perspective of tracked vehicles and tracked robots;
trajectory-tracking model taking into account slip effect;
visual-odometry-based localization strategies; and advanced
slip-compensation motion controllers ensuring efficient real-time
execution. Physical experiments with a real tracked robot are
presented showing the better performance of the suggested novel
approaches to known techniques. Â Keywords: longitudinal slip,
visual odometry, slip-compensation control, robust predictive
control, trajectory tracking.  Related subjects: Robotics –
Mechanical Engineering – Mechanics – Computer Science –
Artificial Intelligence - Applications Â
Automatic Control with Interactive Tools is a textbook for
undergraduate study of automatic control. Providing a clear course
structure, and covering concepts taught in engineering degrees,
this book is an ideal companion to those studying or teaching
automatic control. The authors have used this text successfully to
teach their students. By providing unique interactive tools, which
have been designed to illustrate the most important automatic
control concepts, Automatic Control with Interactive Tools helps
students overcome the potential barriers presented by the
significant mathematical content of automatic control courses. Even
when they have previously had only the benefit of an introductory
control course, the software tools presented will help readers to
get to grips with the use of such techniques as differential
equations, linear algebra, and differential geometry. This textbook
covers the breadth of automatic control topics, including time
responses of dynamic systems, the Nyquist criterion and PID
control. It switches smoothly between analytical and practical
approaches. Automatic Control with Interactive Tools offers a clear
introduction to automatic control, ideal for undergraduate
students, instructors and anyone wishing to familiarize themselves
with the fundamentals of the subject
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