Mobile Robot Rough-terrain Control ( Rtc ) for Planetary Exploration

  title={Mobile Robot Rough-terrain Control ( Rtc ) for Planetary Exploration},
  author={Karl Iagnemma},
Mobile robots are increasingly being developed for highrisk 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 wheelground contact… CONTINUE READING
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