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Title:
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Mobile robots in rough terrain : estimation, motion planning, and control with application to planetary rovers
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Authors:
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K. Iagnemma, Author ;
S. Dubowsky, Author
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Material Type:
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book
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Publisher:
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New York, NY : Springer, 2004
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Series:
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Springer tracts in advanced robotics
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ISBN / ISSN / EAN :
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978-3-540-21968-2
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Format:
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xii, 110 p. / ill. / 25 cm
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Bibliography note:
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Includes bibliographical references and index. Dissertation: revision of Karl Iagnemma's thesis (Ph.D.)--Massachussetts Institute of Technology, 2001
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Languages:
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English
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Class number:
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TL1097
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Subjects:
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Mobile robots
;
Robots--Control systems
;
Robots--Motion
;
Space robotics
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Description:
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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 modelling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control
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Format :
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In print
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Permalink:
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https://isulibrary.isunet.edu/index.php?lvl=notice_display&id=5939
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