Enhanced locomotion control for a planetary rover
| Data(s) |
01/10/2003
|
|---|---|
| Resumo |
This article presents an approach to improve and monitor the behavior of a skid-steering rover on rough terrains. An adaptive locomotion control generates speeds references to avoid slipping situations. An enhanced odometry provides a better estimation of the distance travelled. A probabilistic classification procedure provides an evaluation of the locomotion efficiency on-line, with a detection of locomotion faults. Results obtained with a Marsokhod rover are presented throughout the paper |
| Identificador | |
| Publicador |
IEEE |
| Relação |
DOI:10.1109/IROS.2003.1250646 Peynot, Thierry & Lacroix, Simon (2003) Enhanced locomotion control for a planetary rover. In Proceedings 003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Las Vegas, NV, pp. 311-316. |
| Direitos |
Copyright 2003 IEEE Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. |
| Fonte |
School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
| Palavras-Chave | #080100 ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING #locomotion control #planetary rovers #Hidden Markov Model #probability #mobile robots #odometry |
| Tipo |
Conference Paper |
