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Characterization and Comparison of Rover Locomotion Performance Based on Kinematic Aspects

Abstract : Evaluation and comparison of locomotion performance of rovers is a difficult, though very important issue. The performance is influenced by a large number of parameters. In this work, three different rovers were analyzed from a kinematic point of view. Based on a kinematic model, the optimal velocities at the actual position were calculated for all wheels and used for characterization of the suspension of the different rovers. Simulation results show significant differences between the rovers and thus, the utility of the chosen metric. It is shown that a substantial reduction of slip can be achieved by integrating kinematics in a modelbased velocity controller.
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https://hal.inria.fr/inria-00202691
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  • HAL Id : inria-00202691, version 1

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Thomas Thueer, Roland Siegwart. Characterization and Comparison of Rover Locomotion Performance Based on Kinematic Aspects. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. ⟨inria-00202691⟩

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