ENGLISH

Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers (Springer Tracts in Advanced Robotics)

By Steven Dubowsky , Karl Iagnemma

Book information

Publisher
Springer
Year
2010
ISBN
3642060269, 9783642060267
Language
english
Format
PDF
Filesize
3 MB (3468601 bytes)
Edition
Softcover reprint of hardcover 1st ed. 2004
Pages
111\117
Time added
2011-06-04 13:46:07

Description

This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.

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