Mobile Robots in Rough Terrain : Estimation, Motion Planning, and Control with Application to Planetary Rovers

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Mobile Robots in Rough Terrain : Estimation, Motion Planning, and Control with Application to Planetary Rovers 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 are 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 [Read more...]

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