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Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers: Springer Tracts in Advanced Robotics, cartea 12

Autor Karl Iagnemma, Steven Dubowsky
en Limba Engleză Hardback – 8 iul 2004
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.
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Specificații

ISBN-13: 9783540219682
ISBN-10: 3540219684
Pagini: 124
Ilustrații: XII, 111 p.
Dimensiuni: 156 x 234 x 13 mm
Greutate: 0.35 kg
Ediția:2004
Editura: Springer Berlin, Heidelberg
Colecția Springer
Seria Springer Tracts in Advanced Robotics

Locul publicării:Berlin, Heidelberg, Germany

Public țintă

Research

Cuprins

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

Textul de pe ultima copertă

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.

Caracteristici

The first book on rough-terrain mobile robot estimation, control and planning
Includes supplementary material: sn.pub/extras