Adaptive Behavior for Mobile Robots

TBMG-5545

08/01/2009

Abstract
Content

The term “System for Mobility and Access to Rough Terrain” (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.

Meta TagsDetails
Citation
"Adaptive Behavior for Mobile Robots," Mobility Engineering, August 1, 2009.
Additional Details
Publisher
Published
Aug 1, 2009
Product Code
TBMG-5545
Content Type
Magazine Article
Language
English