3. Modeling off-road travel

3.1 Extended kinematic representation for movement in natural environments

Controlling the movement of a mobile robot is classically based on a number of assumptions that simplify the expressions representing the movement of the mobile in a space. As described in [S7755] , these concern not only the geometric properties of the robot, but also the conditions of interaction with the environment. In particular, one of the main assumptions used in mobile robotics concerns adhesion...

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Modeling off-road travel

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Controlling mobile robots in natural environments

Bibliography

(1) - BRACONNIER (J.B.), LENAIN (R.), THUILOT (B.) - Ensuring path tracking stability of mobile robots in harsh conditions : An adaptive and predictive velocity control. - In 2014 IEEE International Conference on Robotics and Automation (ICRA), pages 5268-5273. IEEE (2014).
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