Abstract
This paper presents a new concept for rough terrain navigation of rovers. The proposed design has reduced number of joints and links from existing suspension concepts. The suspension mechanism is derived from planar four bar mechanism and hence we present the singularity and trajectory analysis of the proposed mechanism. We derive the quasi-static equations of motion of the rover and a linear programming based approach is proposed for the optimum wheel motor torque control. Efficacy of the proposed mechanism is proved by simulations on undulating terrains as well as on terrains having discontinuity. © 2009 Springer-Verlag Berlin Heidelberg.
Author supplied keywords
Cite
CITATION STYLE
Singh, A. K., Patil, A. H., & Saha, A. K. (2009). A novel five wheeled rover for all terrain navigation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5928 LNAI, pp. 1111–1122). https://doi.org/10.1007/978-3-642-10817-4_108
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
