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  1. 1. Wheel-terrain contact angle estimation for planetary exploration rovers

    Master-uppsats, Luleå tekniska universitet/Rymdteknik

    Författare :Ria Vijayan; [2018]
    Nyckelord :Contact angle; Side slip angle; Nonlinear Kalman filter; Differential Kinematics; ExoMars BB2; Planetary exploration rovers;

    Sammanfattning : During space missions, real time tele-operation of a rover is not practical because of significant signal latencies associated with inter planetary distances, making some degree of autonomy in rover control desirable. One of the challenges to achieving autonomy is the determination of terrain traversability. LÄS MER