Proprioceptive Control for a Robotic Vehicle Over Geometric Obstacles

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Title: Proprioceptive Control for a Robotic Vehicle Over Geometric Obstacles
Author: Abdallah, Muhammad ; Arkin, Ronald C. ; Bakkum, Douglas James ; Merrill, Ernest ; Waldron, Kenneth J.
Abstract: In this paper we describe a software system built to coordinate an autonomous vehicle with variable configuration ability operating in rough terrain conditions. The paper describes the system architecture, with an emphasis on the action planning function. This is intended to work with a proprioceptive algorithm that continuously coordinates wheel torques and suspension forces and positions to achieve optimal terrain crossing performance.
Type: Paper
Date: 2003
Contributor: Georgia Institute of Technology. College of Computing
Stanford University. Dept. of Mechanical Engineering
Publisher: Georgia Institute of Technology
Subject: Action planning
Rough terrain

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