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Path Following Control with Slip Compensation on Loose Soil for Exploration Rover
2006
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
In this paper, a path following control strategy for lunar/planetary exploration rovers is described, taking into account slip motion of the rover. It is determined that the slip motion of each wheel of the rover must be increased and cannot be neglected when the rover travels on loose soil. Because of slip, following an arbitrary path on loose soil is a difficult task. In order to improve this situation, the authors have developed a path following algorithm with slip compensation. In this
doi:10.1109/iros.2006.282271
dblp:conf/iros/IshigamiNY06
fatcat:oe3w5bdf2zbl3hihhauwaru4ve