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

Abstract

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

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