Overview
- The first book on rough-terrain mobile robot estimation, control and planning
- Includes supplementary material: sn.pub/extras
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 12)
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Table of contents (5 chapters)
Keywords
About this book
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.
Bibliographic Information
Book Title: Mobile Robots in Rough Terrain
Book Subtitle: Estimation, Motion Planning, and Control with Application to Planetary Rovers
Authors: Karl Iagnemma, Steven Dubowsky
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/b94718
Publisher: Springer Berlin, Heidelberg
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eBook Packages: Springer Book Archive
Copyright Information: Springer-Verlag Berlin Heidelberg 2004
Hardcover ISBN: 978-3-540-21968-2Published: 08 July 2004
Softcover ISBN: 978-3-642-06026-7Published: 15 December 2010
eBook ISBN: 978-3-540-40993-9Published: 16 August 2004
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XII, 111
Topics: Robotics and Automation, Control and Systems Theory, Aerospace Technology and Astronautics, Control, Robotics, Mechatronics, Artificial Intelligence, Systems Theory, Control