Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot

Future autonomous planetary explorers will require extreme terrain mobility to reach areas of interest, such as walled lunar pits and steep Martian rock layers. Climbing mobility systems are one proposed answer, requiring efficient and kinematically feasible motion planning for autonomous operation....

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Bibliographic Details
Main Authors: Albee, Keenan Eugene Sumner, Espinoza, Antonio Teran, Andreyeva, Kristina, Werner, Nathan, Chen, Howei, Sarvary, Tamas
Other Authors: Massachusetts Institute of Technology. Space Systems Laboratory
Format: Article
Published: Institute of Electrical and Electronics Engineers (IEEE) 2021
Online Access:https://hdl.handle.net/1721.1/132633