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 | |
| Publication status | Published - 2009 Dec |
| Externally published | Yes |
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Keywords
- Field robots
- Space robotics
- Wheeled robots
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Predictable mobility. / Ishigami, Genya; Kewlani, Gaurav; Iagnemma, Karl.
In: IEEE Robotics and Automation Magazine, Vol. 16, No. 4, 5306927, 12.2009, p. 61-70.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Predictable mobility
AU - Ishigami, Genya
AU - Kewlani, Gaurav
AU - Iagnemma, Karl
PY - 2009/12
Y1 - 2009/12
N2 - 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.
AB - 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.
KW - Field robots
KW - Space robotics
KW - Wheeled robots
UR - http://www.scopus.com/inward/record.url?scp=73349121229&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=73349121229&partnerID=8YFLogxK
U2 - 10.1109/MRA.2009.934823
DO - 10.1109/MRA.2009.934823
M3 - Article
AN - SCOPUS:73349121229
VL - 16
SP - 61
EP - 70
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
SN - 1070-9932
IS - 4
M1 - 5306927
ER -