Mobile Robots in Rough Terrain
Iagnemma, Karl; Dubowsky, Steven
ISBN 10: 3642060269 ISBN 13: 9783642060267
Editore: Springer, 2010
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New. Delivery takes 25-30 days. Excellent Customer Service. Codice articolo POD-113168
Riassunto:
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.
Dalla quarta di copertina:
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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Dati bibliografici
Titolo: Mobile Robots in Rough Terrain
Casa editrice: Springer
Data di pubblicazione: 2010
Legatura: Brossura
Condizione: Brand New