This paper investigates kinetic behavior of a planetary rover with attention to tire-soil traction mechanics and articulated body dynamics, and thereby study the control when the ...
— Planetary surface exploration rovers must accurately and efficiently predict their mobility on natural, rough terrain. Most approaches to mobility prediction assume precise a p...
An on-road analytical tire model has been developed to predict tire forces and moments at the tire/road interface. The model is computationally efficient and it only requires a li...
— This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the compl...
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical lineariza...