By Karl Iagnemma
This monograph discusses concerns relating to estimation, keep an eye on, and movement making plans for cellular robots working in tough terrain, with specific consciousness to planetary exploration rovers. tough terrain robotics is changing into more and more vital in house exploration, and commercial purposes. even if, most present movement making plans and keep watch over algorithms are usually not well matched to tough terrain mobility, due to the fact they don't reflect on the actual features of the rover and its atmosphere. particular addressed issues are: wheel terrain interplay modeling, together with terrain parameter estimation and wheel terrain touch perspective estimation; tough terrain movement making plans; articulated suspension regulate; and traction keep an eye on. Simulation and experimental effects are awarded that express that the desribed algorithms bring about greater mobility for robot platforms in tough terrain.
Read or Download Mobile robots in rough terrain : estimation, motion planning, and control with application to planetary rovers PDF
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