Hybrid intelligent path planning for articulated rovers in rough terrain
Fuzzy Sets and Systems
Dynamic modeling and control of nonholonomic mobile robot with lateral slip
ISPRA'08 Proceedings of the 7th WSEAS International Conference on Signal Processing, Robotics and Automation
Kinematics of Robot with Castered-and-Cambered Wheels with Respect to Drive Configuration Topology
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Traction Control on Loose Soil for a Redundantly Actuated Mobile Robot
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Analysis and optimization of obstacle clearance of articulated rovers
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Mobility evaluation of wheeled all-terrain robots
Robotics and Autonomous Systems
Intelligent Service Robotics
Kinematics modeling and analysis of a five-wheeled rover with caster and camber
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
Systematic kinematics analysis and balance control of high mobility rovers over rough terrain
Robotics and Autonomous Systems
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This paper describes a general approach to the kinematics modeling and analyses of articulated rovers traversing uneven terrain. The model is derived for full 6-degree-of-freedom motion, enabling movements in the$x$,$y$, and$z$directions, as well as pitch, roll, and yaw rotations. Differential kinematics is derived for the individual wheel motions in contact with the terrain. The resulting equations of the individual wheel motions are then combined to form the composite equation for the rover motion. Three types of kinematics, i.e., navigation, actuation, and slip kinematics are identified, and the equations and application of each are discussed. The derivations are specialized to Rocky 7, a highly articulated prototype Mars rover, to illustrate the developed methods. Simulation results are provided for the motion of the Rocky 7 over several terrains, and various motion profiles are provided to explain the behavior of the rover.