Introduction: Vehicle-Terrain Interaction for Mobile Robots

摘要

The application of mobile robots to field environments has enabled significant advances in such diverse areas as agriculture, defense and security, planetary surface exploration, and mining. To successfully deploy a robot in an unstructured, outdoor environment, roboticists should consider the interaction of the robot and terrain. Often, this interaction is assumed to follow a simple Coulomb friction law, and the effects of such phenomena as wheel (or track, or foot) slippage and sinkage are ignored.