Enhanced locomotion control for a planetary rover
Peynot, Thierry & Lacroix, Simon (2003) Enhanced locomotion control for a planetary rover. In Proceedings 003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Las Vegas, NV, pp. 311-316.
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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|Item Type:||Conference Paper|
|Additional Information:||Also available on CD-ROM in PDF format
adaptive locomotion control
probabilistic classification procedure
|Keywords:||locomotion control, planetary rovers, Hidden Markov Model, probability, mobile robots, odometry|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2003 IEEE|
|Copyright Statement:||Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.|
|Deposited On:||06 Mar 2014 01:51|
|Last Modified:||06 Mar 2014 01:51|
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