Enhanced locomotion control for a planetary rover
نویسندگان
چکیده
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.
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