Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers / Edition 1 by Karl Iagnemma, Steven Dubowsky | | 9783642060267 | Paperback | Barnes & Noble
Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers / Edition 1

Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers / Edition 1

by Karl Iagnemma, Steven Dubowsky
     
 

ISBN-10: 3642060269

ISBN-13: 9783642060267

Pub. Date: 12/09/2010

Publisher: Springer Berlin Heidelberg

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

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.

Product Details

ISBN-13:
9783642060267
Publisher:
Springer Berlin Heidelberg
Publication date:
12/09/2010
Series:
Springer Tracts in Advanced Robotics Series, #12
Edition description:
Softcover reprint of hardcover 1st ed. 2004
Pages:
111
Product dimensions:
0.26(w) x 9.21(h) x 6.14(d)

Related Subjects

Table of Contents

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

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