2016
A kinematic-based rough terrain control for traction and energy saving of an exploration rover
IROS 2016poster
This paper proposes a novel algorithm to control wheels of a rover in rough terrains with keeping traction and minimizing energy consumption on the basis of observing a change of a robot velocity from a 4WD Kinematic model. Proposed kinematic-based rough terrain control (KRTC) can satisfy a rover to…