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

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="793526.fig.0012a" src="https://static.hindawi.com/articles/tswj/volume-2014/793526/figures/793526.fig.0012a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Snapshots of the El-Dorado II rover</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="793526.fig.0012b" src="https://static.hindawi.com/articles/tswj/volume-2014/793526/figures/793526.fig.0012b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Trajectory of wheels</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="793526.fig.0012c" src="https://static.hindawi.com/articles/tswj/volume-2014/793526/figures/793526.fig.0012c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Trajectory of rover’s center</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="793526.fig.0012d" src="https://static.hindawi.com/articles/tswj/volume-2014/793526/figures/793526.fig.0012d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Roll and pitch angles of the rover’s body and angles of rocker joints</td></tr></table></td></tr></table>

<table>Path-following results of simulation of the El-Dorado II rover.</table>

The Scientific World Journal

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Figure 12

Figure 12: Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain 