Robots Móviles con Orugas Historia, Modelado, Localización y Control

摘要

One of the most significant research field in mobile robotics deals with robots operating in off-road conditions (planetary rovers, agriculture robots, search and rescue operations, military robots, etc.). However, obtaining a successful result is not an easy task. One primary point is the locomotion system. In this case, tracks constitute a well-known approach and since the beginning of the 20th century this locomotion system has demonstrated remarkable results in manned vehicles. This article motivates and shows through physical experiments the goodness of tracked mobile robots in off-road conditions. Firstly, a historical perspective of tracked vehicles and tracked robots is addressed. Then, the main modelling aspects are introduced, in particular, the slip phenomenon. After that, several localization techniques are discussed with especial mention to visual odometry. The motion control aspect is also of primal importance. In this regard, several slip-compensation control strategies are analysed. Finally, the authors background obtained in this field is expounded.