Terrain parameter estimation and traversability assessment for mobile robots
Name
53279099-MIT.pdf
Description
Full printable version
Size
8.99 MB
Format
Adobe PDF
Checksum (MD5)
687e7914a2519f81428ea3f9da6631d0
Author(s)
Kang, Shinwoo, 1976-
Advisor(s)
Steven Dubowsky.
Date Issued
2003
Publisher
Massachusetts Institute of Technology
Abstract
The estimation of terrain characteristics is an important missions of Martian exploration rovers. Since only limited resources and human supervision are available, efficient and autonomous method of estimation are required. In this thesis, an on-line estimation method of two important terrain parameters, cohesion and internal friction angle, is developed. The method uses onboard rover sensors and is computationally efficient. Terrain parameter estimation is of scientific interest, and can also be useful in predicting rover mobility on rough-terrain. A method to estimate traversability of a rover on deformable terrain using on-board sensors is presented. Simulation and experimental results show that the proposed methods can accurately and efficiently estimate traversability of deformable terrain.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.
Includes bibliographical references (leaves 65-68).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
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