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.
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Singh, A.K., Patil, A.H., Saha, A.K. (2009). A Novel Five Wheeled Rover for All Terrain Navigation. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_108
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DOI: https://doi.org/10.1007/978-3-642-10817-4_108
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10816-7
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