Mobile Robots in Rough Terrain - Dr. Karl Iagnemma

Springer Tracts in Advanced Robotics
Volume 12
Editors: Bruno Siciliano · Oussama Khatib · Frans Groen

Springer
Berlin
Heidelberg
NewYork
Hong Kong
London
Milan
Paris
Tokyo
K. Iagnemma S. Dubowsky
Mobile Robots
in Rough Terrain
Estimation, Motion Planning,
and Control with Application
to Planetary Rovers
With 58 Figures
Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli
Federico II, Via Claudio 21, 80125 Napoli, Italy, email: [email protected]
Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University,
Stanford, CA 94305-9010, USA, email: [email protected]
Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403,
1098 SJ Amsterdam, The Netherlands, email: [email protected]
STAR (Springer Tracts inAdvanced Robotics) has been promoted under the auspices of EURON (European
Robotics Research Network)
Authors
Dr. Karl Iagnemma
Prof. Dr. Steven Dubowsky
Massachusetts Institute of Technology (MIT)
Department of Mechanical Engineering
77 Massachusetts Avenue
Cambridge, MA 02139-4307
USA
ISSN 1610-7438
ISBN 3-540-21968-4 Springer Berlin Heidelberg New York
Library of Congress Control Number: 2004106986
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Springer is a part of Springer Science+Business Media
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© Springer-Verlag Berlin Heidelberg 2004
Printed in Germany
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Printed on acid-free paper 62/3020Yu - 5 4 3 2 1 0
Editorial Advisory Board
EUROPE
Herman Bruyninckx, KU Leuven, Belgium
Raja Chatila, LAAS, France
Henrik Christensen, KTH, Sweden
Paolo Dario, Scuola Superiore Sant’Anna Pisa, Italy
Rüdiger Dillmann, Universität Karlsruhe, Germany
AMERICA
Ken Goldberg, UC Berkeley, USA
John Hollerbach, University of Utah, USA
Lydia Kavraki, Rice University, USA
Tim Salcudean, University of British Columbia, Canada
Sebastian Thrun, Carnegie Mellon University, USA
ASIA/OCEANIA
Peter Corke, CSIRO, Australia
Makoto Kaneko, Hiroshima University, Japan
Sukhan Lee, Sungkyunkwan University, Korea
Yangsheng Xu, Chinese University of Hong Kong, PRC
Shin’ichi Yuta, Tsukuba University, Japan
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Travel Distance (m)
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Estimated Angle
Front Wheel Contact Angle (deg)
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10
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Actual Angle
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Middle Wheel Contact Angle (deg)
20
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10
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Springer Tracts in Advanced Robotics
Edited by B. Siciliano, O. Khatib, and F. Groen
Published Titles:
Vol. 1: Caccavale, F.; Villani, L. (Eds.) Vol. 6: Jarvis, R.A.; Zelinsky, A. (Eds.)
Fault Diagnosis and Fault Tolerance for Mechatronic Robotics Research { The Tenth International Symposium
Systems: Recent Advances 580 p. 2003 [3-540-00550-1]
191 p. 2002 [3-540-44159-X] Vol. 7: Boissonnat, J.-D.; Burdick, J.; Goldberg, K.;
Vol. 2: Antonelli, G. Hutchinson, S. (Eds.)
Underwater Robots: Motion and Force Control of Algorithmic Foundations of Robotics V
Vehicle-Manipulator Systems 577 p. 2004 [3-540-40476-7]
209 p. 2003 [3-540-00054-2] Vol. 8: Baeten, J.; De Schutter, J.
Vol. 3: Natale, C. Integrated Visual Servoing and Force Control
Interaction Control of Robot Manipulators: 198 p. 2004 [3-540-40475-9]
Six-degrees-of-freedom Tasks Vol. 9: Yamane, K.
120 p. 2003 [3-540-00159-X] Simulating and Generating Motions of Human Figures
Vol. 4: Bicchi, A.; Christensen, H.I.; 176 p. 2004 [3-540-20317-6]
Prattichizzo, D. (Eds.) Vol. 10: Siciliano, B.; De Luca, A.; Melchiorri, C.;
Control Problems in Robotics Casalino, G. (Eds.)
296 p. 2003 [3-540-00251-0] Advances in Control of Articulated and Mobile Robots
Vol. 5: Siciliano, B.; Dario, P. (Eds.) 259 p. 2004 [3-540-20783-X]
Experimental Robotics VIII Vol. 11: Kim, J.-H.; Kim, D.-H.; Kim, Y.-J.; Seow, K.-T.
685 p. 2003 [3-540-00305-3] Soccer Robotics
353 p. 2004 [3-540-21859-9]

Mobile Robots in Rough Terrain - Dr. Karl Iagnemma

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Springer Tracts in Advanced Robotics

Editors: Bruno Siciliano · Oussama Khatib · Frans Groen

Naples, Italy Bruno Siciliano

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