An all-terrain-controller for over-actuated wheeled mobile robots with feedforward and optimization-based control allocation

Abstract

Mobile robots have successfully been used in rough terrain, most prominently NASA/JPL's Mars Exploration Rovers. While autonomy and navigation algorithms become more and more capable, the absence of global navigation satellite systems (GNSS) still poses problems for slip-intensive terrain such as soft sands. Other positioning methods like visual odometry… (More)
DOI: 10.1109/CDC.2017.8264432

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