2026-09-18T20:50:35Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/428302022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Steven Dubowsky.
Kang, Shinwoo, 1976-
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2008-09-03T18:17:57Z
2008-09-03T18:17:57Z
2003
2003
http://hdl.handle.net/1721.1/42830
53279099
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.
Includes bibliographical references (leaves 65-68).
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.
by Shinwoo Kang.
S.M.
93 leaves
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Terrain parameter estimation and traversability assessment for mobile robots
Thesis
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