Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain


The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the… (More)
DOI: 10.1155/2014/793526


14 Figures and Tables

Slides referencing similar topics