By Karl Iagnemma
ISBN-10: 3540219684
ISBN-13: 9783540219682
This monograph discusses matters regarding 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 area exploration, and commercial functions. even if, most modern movement making plans and keep watch over algorithms should not well matched to tough terrain mobility, seeing that they don't think about the actual features of the rover and its atmosphere. particular addressed subject matters 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 provided that exhibit that the desribed algorithms result in more desirable mobility for robot structures in tough terrain.
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Mobile robots in rough terrain : estimation, motion planning, and control with application to planetary rovers by Karl Iagnemma
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