Mobile Robots in Rough Terrain

Estimation, Motion Planning, and Control with Application to Planetary Rovers
1. Auflage. Softcover version of original hardcover Auflage 2004
ISBN: 978-3-642-06026-7
Verlag: Springer

Buch, Englisch, Band 12, 111 Seiten, Previously published in hardcover, Format (B × H): 155 mm x 235 mm, Gewicht: 201 g

Reihe: Springer Tracts in Advanced Robotics

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.

Zielgruppe

Research

Autoren/Hrsg.

Dubowsky, Steven

Iagnemma, Karl

Fachgebiete

• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Luft- und Raumfahrttechnik, Luftverkehr
• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Sonstige Technologien | Angewandte Technik Weltraumforschung
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau
• Naturwissenschaften Astronomie Raumfahrt

Inhaltsverzeichnis

Introduction.- Rough-Terrain Modeling.- Rough-Terrain Motion Planning.- Rough-Terrain Control.- Conclusions and Suggestions for Future Work.