抄録
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.
本文言語 | English |
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論文番号 | 5306927 |
ページ(範囲) | 61-70 |
ページ数 | 10 |
ジャーナル | IEEE Robotics and Automation Magazine |
巻 | 16 |
号 | 4 |
DOI | |
出版ステータス | Published - 2009 12月 |
外部発表 | はい |
ASJC Scopus subject areas
- 制御およびシステム工学
- コンピュータ サイエンスの応用
- 電子工学および電気工学