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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 wh...
Autores principales: | Ding, Liang, Gao, Hai-bo, Deng, Zong-quan, Li, Zhijun, Xia, Ke-rui, Duan, Guang-ren |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Hindawi Publishing Corporation
2014
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3984778/ https://www.ncbi.nlm.nih.gov/pubmed/24790582 http://dx.doi.org/10.1155/2014/793526 |
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