Adaptive Robust Three-dimensional Trajectory Tracking for Actively Articulated Tracked Vehicles*
- Submitting institution
-
University of Plymouth
- Unit of assessment
- 11 - Computer Science and Informatics
- Output identifier
- 885
- Type
- D - Journal article
- DOI
-
10.1002/rob.21584
- Title of journal
- Journal of Field Robotics
- Article number
- -
- First page
- 901
- Volume
- 33
- Issue
- 7
- ISSN
- 1556-4959
- Open access status
- Out of scope for open access requirements
- Month of publication
- -
- Year of publication
- 2015
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
3
- Research group(s)
-
-
- Citation count
- 7
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- The work develops a sound and complete methodology including an analytical technique to design and develop models of motions and tracking for robots capable of adapting the posture to the terrain surface. The methodology specifically extends the theory in this field to novel types of data. The deployment of a tracked robot in real earthquakes demonstrates the effectiveness of the motion model to control autonomously the locomotion components and enable the robot to move over complex terrain surfaces like stairs, debris and rubble. The findings enable safe autonomous navigation in Urban Search And Rescue applications.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -