Future robotic vehicles will perform challenging tasks in rough terrain, such as planetary exploration and military missions. Rovers with actively articulated suspensions can improve rough-terrain mobility by repositioning their center of mass. This paper presents a method to control actively articulated suspensions to enhance rover tipover stability. A stability metric is defined using a quasi-static model, and optimized on-line. The method relies on estimation of wheel-terrain contact angles. An algorithm for estimating wheel-terrain contact angles from simple on-board sensors is developed. Simulation and experimental results are presented for the Jet Propulsion Laboratory Sample Return Rover that show the control method yields substantially improved stability in rough-terrain.


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    Title :

    Control of robotic vehicles with actively articulated suspensions in rough terrain


    Contributors:

    Published in:

    Autonomous Robots ; 14 , 1 ; 5-16


    Publication date :

    2003


    Size :

    12 Seiten, 19 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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