Mobility Reconfiguration for Terrain Exploration Using Active Vision

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More About This Textbook


The ability of robotic units to navigate various

terrains is critical to the advancement of robotic

operation in real world environments. Next

generation robots will need to adapt to their

environment in order to accomplish tasks that are

either too hazardous, too time consuming, or

physically impossible for human-beings. Such tasks

may include accurate and rapid explorations of

various planets or potentially dangerous areas on

planet Earth. This book investigates a

navigation control methodology for a wheel-legged

robot based on active vision. The method presented

is designed to control the reconfigurability of the

robot (i.e. control the usage of the wheels and

legs), depending upon the obstacle/terrain, based on

perception. Surface estimation for robot

reconfigurability is implemented using a region

growing method and a characterization and

traversability assessment generated from camera

data. As a result, a mathematical approach that

directs necessary navigation behavior is implemented

to control robot mobility. The analysis and results should be useful to professionals interested in the future of Robotics and its potential impact on society.

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Product Details

  • ISBN-13: 9783639132663
  • Publisher: VDM Verlag
  • Publication date: 3/28/2009
  • Pages: 84
  • Product dimensions: 0.20 (w) x 6.00 (h) x 9.00 (d)

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