Path following control with slip compensation on loose soil for exploration rover

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 5552-5557

  Ishigami, Genya ^a   Nagatani, Keiji ^a   Yoshida, Kazuya ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; LUNAR MISSIONS; MOTION PLANNING; NUMERICAL METHODS;

ROVER; SLIP MOTION; TERRAMECHANICS;

ROBOTICS;

EID: 34250661913     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282271     Document Type: Conference Paper

References (14)

1. http://marsrovers.jpl.nasa.gov/home/index.html (as of February 2006)
2. I. Nakatani, K. Matsumoto and T. Izumi; "SELENE-B: Proposed Lunar Mission with Lander and Rover," Proc. of the 7th Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, 2003.
3. R. Volpe and S. Peters; "Rover Technology Development and Infusion for the 2009 Mars Science Laboratory Mission," Proc. of the 7th Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, 2003.
4. K. Rajan, et al.; "MAPGEN: Mixed Initiative Planning and Scheduling for the Mars '03 MER Mission," Proc. of the 7th Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, 2003.
5. A. De Luca, G. Oriolo and C. Samson; "Feedback Control of a Nonholonomic Car-like Robot, Robot Motion Planning and Control', edtied by J.-P Laumond, Springer-Verlag, 1998.
6. C. C. de Wit, H. Khennouf, C. Samson and O. J. Sordalen; "Nonlinear Control Design for Mobile Robots, Recent Trends in Mobile Robots," edited by Y. F. Zheng, World Scientific Series in Robotics and Automated Systems, vol.11, 1993.
7. S. Rezaei, J. Guivant and E. M. Nebot; "Car-Like Robot Path Following in Large Unstructured Environments," Proc of the 2003 IEEE Int. Conf. on Intelligent Robots and Systems, pp. 2468-2473, 2003.
8. D. M. Helmick et al.; "Path Following using Visual Odometory for a Mars Rover in High-Slip Environments," Proc. of the 2004 IEEE Aerospace Conference, pp. 772-789, 2004.
9. M. G. Bekker; "Introduction to Terrain-Vehicle Systems," The University of Michigan Press, 1969.
10. J. Y. Wong; "Theory of Ground Vehicles," John Wiley & Sons, 1978.
11. K. Iagnemma and S. Dubowsky; "Mobile Robot in Rough Terrain," Springer Tracts in Advanced Robotics, vol. 12, 2004.
12. K. Yoshida and G. Ishigami; "Steering Characteristics of a Rigid wheel for Explaration on Loose Soil," Proc of the 2004 IEEE Int. Conf. on Intelligent Robots and Systems, pp. 3995-4000, 2004.
13. G. Ishigami and K. Yoshida; "Steering Characteristics of an Exploration Rover on Loose Soil Based on All-Wheel Dynamics Model," Proc of the 2005 IEEE Int. Conf. on Intelligent Robots and Systems, pp. 2041-2046, 2005.
14. G. Ishigami, A. Miwa and K. Yoshida; "Steering Trajectory Analysis of Planetary Exploration Rovers Based on All-Wheel Dynamics Model," Proc. of the 8th Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, 2005.