3D-position Tracking and Control for All-terrain Robots

This book shows how to improve accuracy of position tracking, viewing rough terrain locomotion as a holistic problem. Proposes a mechanical structure allowing smooth motion over obstacles with limited wheel slip, using sensors which improve position estimates.

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.

Introduction.- The SOLERO Rover.- 3D-Odometry.- Control in Rough-Terrain.- Position Tracking in Rough-Terrain.- Conclusion.- A Kinematic and Quasi-static Model of SOLERO.- B Linearized Models.- C The Gauss--Markov Process.- D Visual Motion Estimation.