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.
Author(s): Karl Iagnemma, Steven Dubowsky
Edition: Softcover reprint of hardcover 1st ed. 2004
Publisher: Springer
Year: 2010
Language: English
Pages: 111
01......Page 1
1.1 Problem Statement and Motivation......Page 11
1.2 Purpose of This Monograph......Page 13
1.3.1 Rough Terrain Modeling and Estimation......Page 14
1.3.2 Rough terrain Motion Planning......Page 17
1.3.3 Rough Terrain Control......Page 21
1.5 Assumptions......Page 23
2.1 Introduction......Page 26
2.2.1 Robot Kinematic Analysis......Page 27
2.2.2 Robot Force Analysis......Page 30
2.3 Terrain Characterization and Identification......Page 33
2.3.1 Equation Simplification......Page 36
2.3.2 Sensing and Implementation Issues......Page 40
2.4.1 Simulation Results......Page 42
2.4.2 Experimental Results......Page 44
2.5 Wheel-Terrain Contact Angle Estimation......Page 48
2.5.1 Extended Kalman Filter Implementation......Page 51
2.6.1 Simulation Results......Page 53
2.6.2 Experimental Results......Page 54
2.7 Summary and Conclusions......Page 59
3.1 Introduction......Page 60
3.2 Rough Terrain Motion Planning......Page 61
3.2.1 Step One: Rapid Path Search......Page 62
3.2.2 Step Two: Model-Based Evaluation......Page 66
3.2.3 Uncertainty in Rough Terrain Motion Planning......Page 68
3.2.4 Incorportating Uncertainty in the Rapid Path Search......Page 70
3.2.5 Incorporating Uncertainty in the Model-Based Evaluation......Page 71
3.3 Simulation Results - Rough Terrain Planning......Page 74
3.4.1 Articulated Suspension Configuration Planning Problem Description......Page 79
3.4.2 Mobility Analysis......Page 80
3.4.3 Articulated Suspension Configuration Planning for Enhanced Tipover Stability......Page 81
3.5.1 Simulation Results......Page 84
3.5.2 Experimental Results......Page 85
3.6 Summary and Conclusions......Page 88
4.1 Introduction......Page 89
4.2 Mobile Robot Rough Terrain Control (RTC)......Page 90
4.3.1 Optimization Criteria......Page 92
4.3.2 Problem Constraints......Page 94
4.4.1 Simulation Results......Page 95
4.4.2 Experimental Results......Page 100
4.5 Summary and Conclusion......Page 104
5.1 Contribution of This Monograph......Page 105
5.2 Suggestions for Future Work......Page 106
07......Page 108
