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.

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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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ID Code: 67664
Item Type: Conference Paper
Refereed: Yes
Additional Information: Also available on CD-ROM in PDF format
adaptive locomotion control
planetary rover
skid-steering rover
rough terrains
probabilistic classification procedure
Marsokhod rover
slipping avoidance
Additional URLs:
Keywords: locomotion control, planetary rovers, Hidden Markov Model, probability, mobile robots, odometry
DOI: 10.1109/IROS.2003.1250646
ISBN: 0780378601
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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