The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This report investigates the nature of the externally applied forces on a mobile robot traversing natural terrain. A set of relative metrics is derived which are useful in the design of a powertrain controller for such a robot. These metrics are applied to a specific example case, the NavLab II, operating in rolling offroad terrain.

Notes

Sponsor: ARPA

Grant ID: DACA-89-C-0014, DAAE07-90-C-R059

Number of pages: 24

Text Reference

R. Craig Coulter, "A Partial Analysis of the Mechanics of the Cross Country Navigation Problem," tech. report CMU-RI-TR-94-02, Robotics Institute, Carnegie Mellon University, January, 1994

BibTeX Reference

@techreport{Coulter_1994_323,
   author = "R. Craig Coulter",
   title = "A Partial Analysis of the Mechanics of the Cross Country Navigation Problem",
   booktitle = "",
   institution = "Robotics Institute",
   month = "January",
   year = "1994",
   number= "CMU-RI-TR-94-02",
   address= "Pittsburgh, PA",
}

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