Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers
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. Ho...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Electronic eBook |
| Language: | English |
| Published: |
Berlin, Heidelberg
Springer Berlin Heidelberg
2004
|
| Series: | Springer Tracts in Advanced Robotics
12 |
| Subjects: | |
| Online Access: | FHI01 BTU01 Volltext |
| Summary: | 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 |
| Physical Description: | 1 Online-Ressource (XII, 111 p) |
| ISBN: | 9783540409939 |
| DOI: | 10.1007/b94718 |
Staff View
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| author | Iagnemma, Karl Dubowsky, Steven |
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| author_sort | Iagnemma, Karl |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/b94718 |
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| id | DE-604.BV045149188 |
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| indexdate | 2024-07-10T08:10:03Z |
| institution | BVB |
| isbn | 9783540409939 |
| language | English |
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| spelling | Iagnemma, Karl Verfasser aut Mobile Robots in Rough Terrain Estimation, Motion Planning, and Control with Application to Planetary Rovers by Karl Iagnemma, Steven Dubowsky Berlin, Heidelberg Springer Berlin Heidelberg 2004 1 Online-Ressource (XII, 111 p) txt rdacontent c rdamedia cr rdacarrier Springer Tracts in Advanced Robotics 12 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 Engineering Robotics and Automation Control Aerospace Technology and Astronautics Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Systems Theory, Control Artificial intelligence System theory Aerospace engineering Astronautics Control engineering Robotics Mechatronics Automation Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Bahnsteuerung (DE-588)4042803-5 gnd rswk-swf Rauigkeit (DE-588)4128988-2 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Boden (DE-588)4007348-8 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 s Bahnsteuerung (DE-588)4042803-5 s Boden (DE-588)4007348-8 s Rauigkeit (DE-588)4128988-2 s 1\p DE-604 Bahnplanung (DE-588)4267628-9 s 2\p DE-604 Dubowsky, Steven aut Erscheint auch als Druck-Ausgabe 9783540219682 https://doi.org/10.1007/b94718 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 2\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Iagnemma, Karl Dubowsky, Steven Mobile Robots in Rough Terrain Estimation, Motion Planning, and Control with Application to Planetary Rovers Engineering Robotics and Automation Control Aerospace Technology and Astronautics Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Systems Theory, Control Artificial intelligence System theory Aerospace engineering Astronautics Control engineering Robotics Mechatronics Automation Mobiler Roboter (DE-588)4191911-7 gnd Bahnsteuerung (DE-588)4042803-5 gnd Rauigkeit (DE-588)4128988-2 gnd Bahnplanung (DE-588)4267628-9 gnd Boden (DE-588)4007348-8 gnd |
| subject_GND | (DE-588)4191911-7 (DE-588)4042803-5 (DE-588)4128988-2 (DE-588)4267628-9 (DE-588)4007348-8 |
| title | Mobile Robots in Rough Terrain Estimation, Motion Planning, and Control with Application to Planetary Rovers |
| title_auth | Mobile Robots in Rough Terrain Estimation, Motion Planning, and Control with Application to Planetary Rovers |
| title_exact_search | Mobile Robots in Rough Terrain Estimation, Motion Planning, and Control with Application to Planetary Rovers |
| title_full | Mobile Robots in Rough Terrain Estimation, Motion Planning, and Control with Application to Planetary Rovers by Karl Iagnemma, Steven Dubowsky |
| title_fullStr | Mobile Robots in Rough Terrain Estimation, Motion Planning, and Control with Application to Planetary Rovers by Karl Iagnemma, Steven Dubowsky |
| title_full_unstemmed | Mobile Robots in Rough Terrain Estimation, Motion Planning, and Control with Application to Planetary Rovers by Karl Iagnemma, Steven Dubowsky |
| title_short | Mobile Robots in Rough Terrain |
| title_sort | mobile robots in rough terrain estimation motion planning and control with application to planetary rovers |
| title_sub | Estimation, Motion Planning, and Control with Application to Planetary Rovers |
| topic | Engineering Robotics and Automation Control Aerospace Technology and Astronautics Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Systems Theory, Control Artificial intelligence System theory Aerospace engineering Astronautics Control engineering Robotics Mechatronics Automation Mobiler Roboter (DE-588)4191911-7 gnd Bahnsteuerung (DE-588)4042803-5 gnd Rauigkeit (DE-588)4128988-2 gnd Bahnplanung (DE-588)4267628-9 gnd Boden (DE-588)4007348-8 gnd |
| topic_facet | Engineering Robotics and Automation Control Aerospace Technology and Astronautics Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Systems Theory, Control Artificial intelligence System theory Aerospace engineering Astronautics Control engineering Robotics Mechatronics Automation Mobiler Roboter Bahnsteuerung Rauigkeit Bahnplanung Boden |
| url | https://doi.org/10.1007/b94718 |
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