Proprioceptive control for a robotic vehicle over geometric obstacles

Waldron, KJ; Arkin, RC; Bakkum, D; Merrill, E; Abdallah, M

Proprioceptive control for a robotic vehicle over geometric obstacles

Waldron, KJ

Arkin, RC Bakkum, D Merrill, E Abdallah, M

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Publication Type:: Conference Proceeding
Citation:: Proceedings - IEEE International Conference on Robotics and Automation, 2003, 1 pp. 109 - 114
Issue Date:: 2003-12-09

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Field	Value	Language
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.contributor.author	Arkin, RC	en_US
dc.contributor.author	Bakkum, D	en_US
dc.contributor.author	Merrill, E	en_US
dc.contributor.author	Abdallah, M	en_US
dc.date.issued	2003-12-09	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2003, 1 pp. 109 - 114	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11115
dc.description.abstract	In this paper we describe a software system built to coordinate an autonomous vehicle with variable configuration ability operating in rough terrain conditions. The paper describes the system architecture, with an emphasis on the action planning function. This is intended to work with a proprioceptive algorithm that continuously coordinates wheel torques and suspension forces and positions to achieve optimal terrain crossing performance.	en_US
dc.relation.ispartof	Proceedings - IEEE International Conference on Robotics and Automation	en_US
dc.title	Proprioceptive control for a robotic vehicle over geometric obstacles	en_US
dc.type	Conference Proceeding
utslib.citation.volume	1	en_US
utslib.for	091399 Mechanical Engineering not elsewhere classified	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	091302 Automation and Control Engineering	en_US
dc.location.activity	Taipei, Taiwan	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	1	en_US

Abstract:

In this paper we describe a software system built to coordinate an autonomous vehicle with variable configuration ability operating in rough terrain conditions. The paper describes the system architecture, with an emphasis on the action planning function. This is intended to work with a proprioceptive algorithm that continuously coordinates wheel torques and suspension forces and positions to achieve optimal terrain crossing performance.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/11115