Springer Tracts in Advanced Robotics

Mobile Robots in Rough Terrain

Estimation, Motion Planning, and Control with Application to Planetary Rovers

Authors: Iagnemma, Karl, Dubowsky, Steven

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  • ISBN 978-3-540-40993-9
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Hardcover $209.00
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  • ISBN 978-3-540-21968-2
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  • ISBN 978-3-642-06026-7
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About this book

This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.

Table of contents (5 chapters)

  • Chapter 1 Introduction

    Iagnemma, Karl (et al.)

    Pages 1-15

  • Chapter 2 Rough Terrain Mobile Robot Modeling and Estimation

    Iagnemma, Karl (et al.)

    Pages 17-50

  • Chapter 3 Rough Terrain Motion Planning

    Iagnemma, Karl (et al.)

    Pages 51-79

  • Chapter 4 Rough Terrain Control

    Iagnemma, Karl (et al.)

    Pages 81-96

  • Chapter 5 Conclusions and Suggestions for Future Work

    Iagnemma, Karl (et al.)

    Pages 97-99

Buy this book

eBook $159.00
price for USA (gross)
  • ISBN 978-3-540-40993-9
  • Digitally watermarked, DRM-free
  • Included format:
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $209.00
price for USA
  • ISBN 978-3-540-21968-2
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $209.00
price for USA
  • ISBN 978-3-642-06026-7
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Mobile Robots in Rough Terrain
Book Subtitle
Estimation, Motion Planning, and Control with Application to Planetary Rovers
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
12
Copyright
2004
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-540-40993-9
DOI
10.1007/b94718
Hardcover ISBN
978-3-540-21968-2
Softcover ISBN
978-3-642-06026-7
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XII, 111
Topics