Kinematic Observers for Articulated Rovers
نویسنده
چکیده
A state estimator design is presented for a Mars rover prototype. Odometry estimates are obtained by utilizing the f u l l kinematics of the vehicle including the nonlinear internal kinematics of the rover rocker-bogey mechanism as well as the contact kinematics between the wheels and the ground. Additional sewing using gyroscopes, acclerometers and visual sensors allows for robust rover motion state estimation. Simulation M well as experimental results are presented to illustrate the estimator opemtion.
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