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

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.

Sommario

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

Riassunto

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.

Dettagli sul prodotto

• Autori: Steven Dubowsky, Kar Iagnemma, Karl Iagnemma
• Editore: Springer, Berlin
• Lingue: Inglese
• Formato: Tascabile
• Pubblicazione: 13.10.2010
• EAN: 9783642060267
• ISBN: 978-3-642-06026-7
• Pagine: 111
• Illustrazioni: XII, 111 p.
• Serie: Springer Tracts in Advanced Robotics; Springer Tracts in Advanced Robotics
• Categorie: Scienze naturali, medicina, informatica, tecnica > Tecnica > Elettronica, elettrotecnica, telecomunicazioni; B, Künstliche Intelligenz, Robotics, Artificial Intelligence, Automation, Astronautik (Raumfahrttechnik), Kybernetik und Systemtheorie, astronautics, engineering, Control and Systems Theory, Systems Theory, Control, Electronic devices & materials, Aerospace engineering, Aerospace Technology and Astronautics, Control, Robotics, Mechatronics, Control, Robotics, Automation, Control engineering, Mechatronics, Aerospace & aviation technology, Robotics and Automation, Automatic control engineering, System Theory, Cybernetics & systems theory