Terrain parameter estimation and traversability assessment for mobile robots
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
| Published: |
Massachusetts Institute of Technology
2008
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/42830 |
| _version_ | 1811089229100351488 |
|---|---|
| author | Kang, Shinwoo, 1976- |
| author2 | Steven Dubowsky. |
| author_facet | Steven Dubowsky. Kang, Shinwoo, 1976- |
| author_sort | Kang, Shinwoo, 1976- |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003. |
| first_indexed | 2024-09-23T14:15:53Z |
| format | Thesis |
| id | mit-1721.1/42830 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:15:53Z |
| publishDate | 2008 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/428302019-04-10T12:25:09Z Terrain parameter estimation and traversability assessment for mobile robots Kang, Shinwoo, 1976- Steven Dubowsky. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. 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. 2008-09-03T18:17:57Z 2008-09-03T18:17:57Z 2003 2003 Thesis http://hdl.handle.net/1721.1/42830 53279099 eng M.I.T. theses are protected by 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. http://dspace.mit.edu/handle/1721.1/7582 93 leaves application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Kang, Shinwoo, 1976- Terrain parameter estimation and traversability assessment for mobile robots |
| title | Terrain parameter estimation and traversability assessment for mobile robots |
| title_full | Terrain parameter estimation and traversability assessment for mobile robots |
| title_fullStr | Terrain parameter estimation and traversability assessment for mobile robots |
| title_full_unstemmed | Terrain parameter estimation and traversability assessment for mobile robots |
| title_short | Terrain parameter estimation and traversability assessment for mobile robots |
| title_sort | terrain parameter estimation and traversability assessment for mobile robots |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/42830 |
| work_keys_str_mv | AT kangshinwoo1976 terrainparameterestimationandtraversabilityassessmentformobilerobots |