Predictable mobility

Genya Ishigami; Gaurav Kewlani; Karl Iagnemma

doi:10.1109/MRA.2009.934823

Predictable mobility

Genya Ishigami, Gaurav Kewlani, Karl Iagnemma

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

24 Citations (Scopus)

Abstract

In this article, a statistical method for mobility prediction that incorporates terrain uncertainty is presented. Mobile robotics has been performing a significant role in scientific lunar/planetary surface exploration missions [1]. In such missions, mobile robots are required to predict their mobility to avoid hazards such as immobilizing wheel slip on loose sand or collision with obstacles. This mobility prediction problem is thus important to the successful exploration on challenging terrain. Of particular interest is mobility prediction on sloped terrain, since travel on slopes can cause extreme longitudinal and lateral slips.

Original language	English
Article number	5306927
Pages (from-to)	61-70
Number of pages	10
Journal	IEEE Robotics and Automation Magazine
Volume	16
Issue number	4
DOIs	https://doi.org/10.1109/MRA.2009.934823
Publication status	Published - 2009 Dec

Keywords

Field robots
Space robotics
Wheeled robots

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/MRA.2009.934823

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abstract = "In this article, a statistical method for mobility prediction that incorporates terrain uncertainty is presented. Mobile robotics has been performing a significant role in scientific lunar/planetary surface exploration missions [1]. In such missions, mobile robots are required to predict their mobility to avoid hazards such as immobilizing wheel slip on loose sand or collision with obstacles. This mobility prediction problem is thus important to the successful exploration on challenging terrain. Of particular interest is mobility prediction on sloped terrain, since travel on slopes can cause extreme longitudinal and lateral slips.",

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