By Karl Iagnemma
This monograph discusses concerns concerning estimation, regulate, and movement making plans for cellular robots working in tough terrain, with specific realization to planetary exploration rovers. tough terrain robotics is turning into more and more vital in area exploration, and commercial functions. besides the fact that, most present movement making plans and keep an eye on algorithms aren't compatible to tough terrain mobility, considering that they don't examine the actual features of the rover and its surroundings. 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 regulate. Simulation and experimental effects are provided that exhibit that the desribed algorithms result in more desirable mobility for robot platforms in tough terrain.
Read Online or Download Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers (Springer Tracts in Advanced Robotics) PDF
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