Path Following With Slip Compensation for a Mars Rover
TBMG-432
09/01/2005
- Content
A software system for autonomous operation of a Mars rover is composed of several key algorithms that enable the rover to accurately follow a designated path, compensate for slippage of its wheels on terrain, and reach intended goals. The techniques implemented by the algorithms are visual odometry, full vehicle kinematics, a Kalman filter, and path following with slip compensation.
- Citation
- "Path Following With Slip Compensation for a Mars Rover," Mobility Engineering, September 1, 2005.