Chapter 50 — Modeling and Control of Robots on Rough Terrain

A path-following control scheme for a four-wheeled mobile robot

This video shows a feedback control for planetary rovers. It calculates both steering and driving maneuvers that can compensate for wheel slips and also enable the rover to successfully traverse a sandy slope. The performance was confirmed in slope traversal experiments using a four-wheeled rover test bed. In this split video clip, no slip control is performed on the left, and slip-compensation-feedback control is conducted on the right. The rover's motion is detected by the visual odometry system using a telecentric camera.
Genya Ishigami, Keiji Nagatani, Kazuya Yoshida