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Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers (Springer Tracts in Advanced Robotics, 12, Band 12) - Hardcover

Buch 8 von 153: Springer Tracts in Advanced Robotics

Iagnemma, Karl; Dubowsky, Steven

 
9783540219682: Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers (Springer Tracts in Advanced Robotics, 12, Band 12)
Hardcover
ISBN 10: 3540219684 ISBN 13: 9783540219682
Verlag: Springer, 2004

Inhaltsangabe

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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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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Verlag
Springer
Erscheinungsdatum
2004
Sprache
Englisch
ISBN 10 
3540219684
ISBN 13 
9783540219682
Einband
Gebundene Ausgabe
Anzahl der Seiten
123
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Weitere beliebte Ausgaben desselben Titels

9783642060267: Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers (Springer Tracts in Advanced Robotics, Band 12)

Vorgestellte Ausgabe

ISBN 10:  3642060269 ISBN 13:  9783642060267
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Softcover