Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers

Future planetary exploration missions will require wheeled mobile robots ("rovers") to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper, an online estimation method that identifies key terra...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 20; no. 5; pp. 921 - 927
Main Authors:	Iagnemma, K., Shinwoo Kang, Shibly, H., Dubowsky, S.
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.10.2004 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Applied sciences Autonomous Computational modeling Computer science; control theory; systems Control theory. Systems Equations Exact sciences and technology Friction Humans Mathematical analysis Mechanical engineering Mobile robots On-line systems Online Parameter estimation Robot sensing systems Robotics Robots Soil Soil (material) Soils Space exploration Terrain Wheels Space application Autonomous system Crosscountry vehicle Parameter estimation Moving robot Control program System identification Robotics
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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