Motion generation for a rover on rough terrains
Overview & Synopsis
This article presents an algorithm that determines safe motions for an articulated rover on rough terrains. It relies on the evaluation of a set of elementary trajectories on a digital elevation map built as the rover moves. The algorithm relies on the explicit computation of geometric constraints on the rover chassis. It has been integrated within a continuously running navigation loop on board the robot Lama, and tested under various terrain conditions.
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hal.science)
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Document Information
| Document Title | Motion generation for a rover on rough terrains |
|---|---|
| Author / Organization | David Bonnafous, Simon Lacroix, Thierry Simeon |
| Subject & Discipline | Multidisciplinary Academic Open Research |
| Categories | Science & Mathematics |
| Publication Year | 2001 |
| License / Rights | Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
HAL Open Science
(hal.science)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-118222 |
| Original Source Link | Visit Source Page on hal.science » |