Chapter 4 Rough Terrain Control

Abstract

Effective control methods for mobile robots in rough terrain should maximize vehicle mobility despite changing terrain unevenness and traction characteristics. They should also minimize power consumption, since autonomous systems often possess limited on-board power storage capabilities. One means of improving control performance is to take advantage of the actuation redundancy present in most mobile robots. Actuation redundancy refers to the condition in which a mobile robot has more controllable drive actuators than is minimally required for locomotion. For example, a mobile robot with four driven wheels possesses actuation redundancy, since only two driven wheels are required to drive forward and turn via skid steering.