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

Mobile Robots in Rough Terrain Estimation Motion Planning and Control with Application to Planetary Rovers - Springer Tracts in Advanced Robotics
Author: Karl Iagnemma, Steven Dubowsky

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...  more » 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.  « less

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ISBN-13: 9783642060267
ISBN-10: 3642060269
Publication Date: 12/9/2010
Pages: 111
Edition: Softcover reprint of
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Publisher: Springer
Book Type: Paperback
Other Versions: Hardcover
Members Wishing: 1
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