Standardized performance evaluation is uncommon in mobile robotics. Therefore, it is difficult to compare published results and estimate their value. This work aims at providing a basis for the evaluation and comparison of the mobility performance of wheeled, all-terrain robots with respect to terrainability. Precisely defined existing and novel metrics are proposed for this purpose. The utility of these metrics is shown by applying them in a comparison to a selection of rover suspension systems known from the literature. Appropriate models for evaluation of the performance are described as well as the validation of the metrics by means of experimental testing. The simulations reveal significant differences in performance between the rovers which is confirmed by the test results. The correlation of the performance in simulation and reality is highly satisfying and supports the applicability of the proposed metrics.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Mobility evaluation of wheeled all-terrain robots


    Additional title:

    Beweglichleitsbeurteilung für geräderte Geländeroboter


    Contributors:

    Published in:

    Publication date :

    2010


    Size :

    12 Seiten, 17 Bilder, 6 Tabellen, 32 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    Kinematics of wheeled mobile robots on uneven terrain

    Chakraborty, Nilanjan | Online Contents | 2004


    All-terrain wheeled robot chassis

    SONG HAIFENG / YAN JUNCHUN / HAN BING et al. | European Patent Office | 2022

    Free access

    Speed-made-good: Mobility map generation for wheeled vehicles on soft terrain

    Karpman, Eric / Huang, Wei / Kövecses, Jozsef et al. | Elsevier | 2022