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Mobile Robots in Rough Terrain

Name: Mobile Robots in Rough Terrain
Brand: Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
SKU: 01559355
Price: 107.93 EUR
Availability: InStock
Author: K. Iagnemma
ISBN: 9783540219682

Estimation, Motion, Planning, and Control with Apllication to Planetary Rovers

K. Iagnemma

S. Dubowsky

Language

English

Book Hardback

Libristo code: 01559355

Publishers Springer-Verlag Berlin and Heidelberg GmbH & Co. KG, July 2004

This monograph discusses issues related to estimation, control, and motion planning for mobile robot... Full description

Libristo code: 01559355

263 b

107.93 €

211.10 лв

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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.