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- Karl Iagnemma
- Massachusetts Institute of Technology
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- Steven Dubowsky
- Massachusetts Institute of Technology
書誌事項
- 公開日
- 2000-09-10
- 権利情報
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- https://www.asme.org/publications-submissions/publishing-information/legal-policies
- DOI
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- 10.1115/detc2000/mech-14211
- 公開者
- American Society of Mechanical Engineers
説明
<jats:title>Abstract</jats:title> <jats:p>Mobile robots are increasingly being developed for high-risk missions in rough terrain situations, such as planetary exploration. Here a rough-terrain control (RTC) methodology is presented that exploits the actuator redundancy found in multi-wheeled mobile robot systems to improve ground traction and reduce power consumption. The methodology “chooses” an optimization criterion based on the local terrain profile. A key element of the method is to be able to estimate the wheel-ground contact angles. A method using an extended Kalman filter is presented for estimating these angles using simple on-board sensors. Simulation results for a wheeled micro-rover traversing Mars-like terrain demonstrate the effectiveness of the algorithms.</jats:p>
収録刊行物
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- Volume 7B: 26th Biennial Mechanisms and Robotics Conference
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Volume 7B: 26th Biennial Mechanisms and Robotics Conference 1429-1436, 2000-09-10
American Society of Mechanical Engineers