Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers

01......Page 0
1.1 Problem Statement and Motivation......Page 9
1.2 Purpose of This Monograph......Page 11
1.3.1 Rough Terrain Modeling and Estimation......Page 12
1.3.2 Rough terrain Motion Planning......Page 15
1.3.3 Rough Terrain Control......Page 19
1.5 Assumptions......Page 21
2.1 Introduction......Page 24
2.2.1 Robot Kinematic Analysis......Page 25
2.2.2 Robot Force Analysis......Page 28
2.3 Terrain Characterization and Identification......Page 31
2.3.1 Equation Simplification......Page 34
2.3.2 Sensing and Implementation Issues......Page 38
2.4.1 Simulation Results......Page 40
2.4.2 Experimental Results......Page 42
2.5 Wheel-Terrain Contact Angle Estimation......Page 46
2.5.1 Extended Kalman Filter Implementation......Page 49
2.6.1 Simulation Results......Page 51
2.6.2 Experimental Results......Page 52
2.7 Summary and Conclusions......Page 57
3.1 Introduction......Page 58
3.2 Rough Terrain Motion Planning......Page 59
3.2.1 Step One: Rapid Path Search......Page 60
3.2.2 Step Two: Model-Based Evaluation......Page 64
3.2.3 Uncertainty in Rough Terrain Motion Planning......Page 66
3.2.4 Incorportating Uncertainty in the Rapid Path Search......Page 68
3.2.5 Incorporating Uncertainty in the Model-Based Evaluation......Page 69
3.3 Simulation Results - Rough Terrain Planning......Page 72
3.4.1 Articulated Suspension Configuration Planning Problem Description......Page 77
3.4.2 Mobility Analysis......Page 78
3.4.3 Articulated Suspension Configuration Planning for Enhanced Tipover Stability......Page 79
3.5.1 Simulation Results......Page 82
3.5.2 Experimental Results......Page 83
3.6 Summary and Conclusions......Page 86
4.1 Introduction......Page 87
4.2 Mobile Robot Rough Terrain Control (RTC)......Page 88
4.3.1 Optimization Criteria......Page 90
4.3.2 Problem Constraints......Page 92
4.4.1 Simulation Results......Page 93
4.4.2 Experimental Results......Page 98
4.5 Summary and Conclusion......Page 102
5.1 Contribution of This Monograph......Page 103
5.2 Suggestions for Future Work......Page 104
07......Page 106