Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

Figure 9

Influence of 𝑑_𝑢 on reference path and desired yaw angle.

(a) Paths, 𝑅_𝑓=0.4 m, and 𝑑_𝑢=0.4 m

(b) Paths, 𝑅_𝑓=0.4 m, and 𝑑_𝑢=0.2 m

(c) Paths, 𝑅_𝑓=0.2 m, and 𝑑_𝑢=0.2 m

(d) Desired yaw angle