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Erschienen in:
Robotics and the Handbook Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

50. Modeling and Control of Robots on Rough Terrain

verfasst von : Keiji Nagatani, Genya Ishigami, Yoshito Okada

Erschienen in: Springer Handbook of Robotics

Verlag: Springer International Publishing

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Abstract

In this chapter, we introduce modeling and control for wheeled mobile robots and tracked vehicles. The target environment is rough terrains, which includes both deformable soil and heaps of rubble. Therefore, the topics are roughly divided into two categories, wheeled robots on deformable soil and tracked vehicles on heaps of rubble.
After providing an overview of this area in Sect. 50.1, a modeling method of wheeled robots on a deformable terrain is introduced in Sect. 50.2. It is based on terramechanics, which is the study focusing on the mechanical properties of natural rough terrain and its response to off-road vehicle, specifically the interaction between wheel/track and soil. In Sect. 50.3, the control of wheeled robots is introduced. A wheeled robot often experiences wheel slippage as well as its sideslip while traversing rough terrain. Therefore, the basic approach in this section is to compensate the slip via steering and driving maneuvers. In the case of navigation on heaps of rubble, tracked vehicles have much advantage. To improve traversability in such challenging environments, some tracked vehicles are equipped with subtracks, and one kinematical modeling method of tracked vehicle on rough terrain is introduced in Sect. 50.4. In addition, stability analysis of such vehicles is introduced in Sect. 50.5. Based on such kinematical model and stability analysis, a sensor-based control of tracked vehicle on rough terrain is introduced in Sect. 50.6. Sect. 50.7 summarizes this chapter.

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Vorheriges Kapitel Modeling and Control of Wheeled Mobile Robots
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Metadaten
Titel
Modeling and Control of Robots on Rough Terrain
verfasst von
Keiji Nagatani
Genya Ishigami
Yoshito Okada
Copyright-Jahr
2016
Verlag
Springer International Publishing
Buch
Springer Handbook of Robotics

Print ISBN: 978-3-319-32550-7

Electronic ISBN: 978-3-319-32552-1

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-32552-1_50

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