Conclusion

Contents

This book is about 3D position tracking and control for all-terrain robots. Its intent is to contribute toward extending the range of possible areas a robot can explore. The work covers a wide range of problems, from system integration aspects up to the development of high-level control algorithms and models. It is shown that control over both the technological and scientific aspects allows reaching better system performance. Improvement of the accuracy of 3D position tracking is obtained by considering rover locomotion in challenging terrains as a holistic problem. Thus, most of the aspects having an influence on pose tracking are addressed, i.e., mechanical design, locomotion control and sensing.

In Chapter 2, the development of a new all-terrain rover has been presented. The platform, called SOLERO, is equipped with two computers, a stereovision module, an omnidirectional vision system, an inertial measurement unit, numerous sensors and actuators and dedicated electronics for power management. The mechanical structure of SOLERO allows smooth motion across rough terrain with limited wheel slip and vibration. This yields good signal-to-noise ratios for the sensors and, in particular, enables the use of inertial sensors in rough terrain. Thus, the intrinsic performance of such a chassis directly contributes to better position tracking.