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...
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Main Authors: | , , , , , |
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Format: | Article |
Language: | English |
Published: |
Wiley
2014-01-01
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Series: | The Scientific World Journal |
Online Access: | http://dx.doi.org/10.1155/2014/793526 |
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