Overview

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.

Full Product Details

Author:   Karl Iagnemma ,  Steven Dubowsky
Publisher:   Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
Imprint:   Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Edition:   Softcover reprint of the original 1st ed. 2004
Volume:   12
Dimensions:   Width: 15.50cm , Height: 0.60cm , Length: 23.50cm
Weight:   0.454kg
ISBN:  

9783642060267

ISBN 10:   3642060269
Pages:   111
Publication Date:   15 December 2010
Audience:   Professional and scholarly ,  General/trade ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   In Print  
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