Robust Adaptive Fuzzy Control for Planetary Rovers While Climbing up Deformable Slopes with Longitudinal Slip
نویسندگان
چکیده
منابع مشابه
Slip-compensated path following for planetary exploration rovers
A system that enables continuous slip compensation for a Mars rover has been designed, implemented, and field-tested. This system is composed of several components that allow the rover to accurately and continuously follow a designated path, compensate for slippage, and reach intended goals in high-slip environments. These components include: visual odometry, vehicle kinematics, a Kalman filter...
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Daniel Loret de Mola Lemus∗ Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 e-mail: [email protected] David Kohanbash Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 e-mail: [email protected] Scott Moreland† Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 e-mail: [email protected] David Wettergreen Robotics...
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This paper describes the design, implementation, and experimental results of a navigation system for planetary rovers called Terrain Adaptive Navigation (TANav). This system was designed to enable greater access to and more robust operations within terrains of widely varying slippage. The system achieves this goal by using onboard stereo cameras to remotely classify surrounding terrain, predict...
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for the ICRA08 Planetary Rovers Workshop Slip Estimation and Compensation Control for Lunar/Planetary Rovers on Loose Soil Kazuya Yoshida, Keiji Nagatani, Genya Ishigami Dept. of Aerospace Engineering, Tohoku University, Japan Giulio Reina Dept. of Innovation Engineering, University of Salento, Italy For a mobile robot, it is critical to detect and compensate for slippage, especially when drivi...
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ژورنال
عنوان ژورنال: Advances in Aerospace Engineering
سال: 2014
ISSN: 2356-6531,2314-7520
DOI: 10.1155/2014/620890