Table of contents

  1. Front Matter
  2. Karl Iagnemma, Steven Dubowsky
    Pages 1-15
  3. Karl Iagnemma, Steven Dubowsky
    Pages 17-50
  4. Karl Iagnemma, Steven Dubowsky
    Pages 51-79
  5. Karl Iagnemma, Steven Dubowsky
    Pages 81-96
  6. Karl Iagnemma, Steven Dubowsky
    Pages 97-99
  7. Back Matter

About this book


This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.


algorithms control algorithm mobile robot modeling motion planning planetary exploration rover robot robotics rough terrain simulation space exploration suspension control terrain parameter estimation traction control

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin/Heidelberg 2004
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-540-21968-2
  • Online ISBN 978-3-540-40993-9
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site