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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 are 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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