Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers (Springer Tracts in Advanced Robotics)

Springer Tracts in Advanced Robotics Volume 12 Editors: Bruno Siciliano · Oussama Khatib · Frans Groen

Springer Berlin Heidelberg NewYork Hong Kong London Milan Paris Tokyo

K. Iagnemma ž S. Dubowsky

Mobile Robots in Rough Terrain Estimation, Motion Planning, and Control with Application to Planetary Rovers With 58 Figures

Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Universit`a degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy, email: [email protected] Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305-9010, USA, email: [email protected] Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403, 1098 SJ Amsterdam, The Netherlands, email: [email protected] STAR (Springer Tracts inAdvanced Robotics) has been promoted under the auspices of EURON (European Robotics Research Network)

Authors Dr. Karl Iagnemma Prof. Dr. Steven Dubowsky Massachusetts Institute of Technology (MIT) Department of Mechanical Engineering 77 Massachusetts Avenue Cambridge, MA 02139-4307 USA

ISSN 1610-7438 ISBN 3-540-21968-4 Springer Berlin Heidelberg New York Library of Congress Control Number: 2004106986 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in other ways, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag. Violations are liable to prosecution under German Copyright Law. Springer is a part of Springer Science+Business Media springeronline.com © Springer-Verlag Berlin Heidelberg 2004 Printed in Germany The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: Digital data supplied by authors. Data-conversion and production: PTP-Berlin Protago-TeX-Production GmbH, Germany Cover-Design: design & production GmbH, Heidelberg Printed on acid-free paper 62/3020Yu - 5 4 3 2 1 0

Editorial Advisory Board EUROPE Herman Bruyninckx, KU Leuven, Belgium Raja Chatila, LAAS, France Henrik Christensen, KTH, Sweden Paolo Dario, Scuola Superiore Sant’Anna Pisa, Italy R¨udiger Dillmann, Universit¨at Karlsruhe, Germany AMERICA Ken Goldberg, UC Berkeley, USA John Hollerbach, University of Utah, USA Lydia Kavraki, Rice University, USA Tim Salcudean, University of British Columbia, Canada Sebastian Thrun, Carnegie Mellon University, USA ASIA/OCEANIA Peter Corke, CSIRO, Australia Makoto Kaneko, Hiroshima University, Japan Sukhan Lee, Sungkyunkwan University, Korea Yangsheng Xu, Chinese University of Hong Kong, PRC Shin’ichi Yuta, Tsukuba University, Japan

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K. Iagnemma and S. Dubovsky: Mobile Robots in Rough Terrain, STAR 12, pp. 51–79, 2004. © Springer-Verlag Berlin Heidelberg 2004

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Springer Tracts in Advanced Robotics Edited by B. Siciliano, O. Khatib, and F. Groen Published Titles: Vol. 1: Caccavale, F.; Villani, L. (Eds.) Fault Diagnosis and Fault Tolerance for Mechatronic Systems: Recent Advances 191 p. 2002 [3-540-44159-X] Vol. 2: Antonelli, G. Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems 209 p. 2003 [3-540-00054-2] Vol. 3: Natale, C. Interaction Control of Robot Manipulators: Six-degrees-of-freedom Tasks 120 p. 2003 [3-540-00159-X] Vol. 4: Bicchi, A.; Christensen, H.I.; Prattichizzo, D. (Eds.) Control Problems in Robotics 296 p. 2003 [3-540-00251-0] Vol. 5: Siciliano, B.; Dario, P. (Eds.) Experimental Robotics VIII 685 p. 2003 [3-540-00305-3]

Vol. 6: Jarvis, R.A.; Zelinsky, A. (Eds.) Robotics Research { The Tenth International Symposium 580 p. 2003 [3-540-00550-1] Vol. 7: Boissonnat, J.-D.; Burdick, J.; Goldberg, K.; Hutchinson, S. (Eds.) Algorithmic Foundations of Robotics V 577 p. 2004 [3-540-40476-7] Vol. 8: Baeten, J.; De Schutter, J. Integrated Visual Servoing and Force Control 198 p. 2004 [3-540-40475-9] Vol. 9: Yamane, K. Simulating and Generating Motions of Human Figures 176 p. 2004 [3-540-20317-6] Vol. 10: Siciliano, B.; De Luca, A.; Melchiorri, C.; Casalino, G. (Eds.) Advances in Control of Articulated and Mobile Robots 259 p. 2004 [3-540-20783-X] Vol. 11: Kim, J.-H.; Kim, D.-H.; Kim, Y.-J.; Seow, K.-T. Soccer Robotics 353 p. 2004 [3-540-21859-9]