Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking

Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechan...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Jun He [verfasserIn] Yanlong Sun [verfasserIn] Limin Yang [verfasserIn] Feng Gao [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	mobile robot advanced intelligent control wheeled–legged trajectory tracking model predictive control

Übergeordnetes Werk:	In: Sensors - MDPI AG, 2003, 22(2022), 11, p 4164
Übergeordnetes Werk:	volume:22 ; year:2022 ; number:11, p 4164

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/s22114164

Katalog-ID:	DOAJ078986575

Internformat


LEADER	01000caa a22002652 4500
001	DOAJ078986575
003	DE-627
005	20240414211204.0
007	cr uuu---uuuuu
008	230307s2022 xx \|\|\|\|\|o 00\| \|\|eng c
024	7		\|a 10.3390/s22114164 \|2 doi
035			\|a (DE-627)DOAJ078986575
035			\|a (DE-599)DOAJd1f1aebbcfe142d2850705447fec5bcf
040			\|a DE-627 \|b ger \|c DE-627 \|e rakwb
041			\|a eng
050		0	\|a TP1-1185
100	0		\|a Jun He \|e verfasserin \|4 aut
245	1	0	\|a Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking
264		1	\|c 2022
336			\|a Text \|b txt \|2 rdacontent
337			\|a Computermedien \|b c \|2 rdamedia
338			\|a Online-Ressource \|b cr \|2 rdacarrier
520			\|a Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method.
650		4	\|a mobile robot
650		4	\|a advanced intelligent control
650		4	\|a wheeled–legged
650		4	\|a trajectory tracking
650		4	\|a model predictive control
653		0	\|a Chemical technology
700	0		\|a Yanlong Sun \|e verfasserin \|4 aut
700	0		\|a Limin Yang \|e verfasserin \|4 aut
700	0		\|a Feng Gao \|e verfasserin \|4 aut
773	0	8	\|i In \|t Sensors \|d MDPI AG, 2003 \|g 22(2022), 11, p 4164 \|w (DE-627)331640910 \|w (DE-600)2052857-7 \|x 14248220 \|7 nnns
773	1	8	\|g volume:22 \|g year:2022 \|g number:11, p 4164
856	4	0	\|u https://doi.org/10.3390/s22114164 \|z kostenfrei
856	4	0	\|u https://doaj.org/article/d1f1aebbcfe142d2850705447fec5bcf \|z kostenfrei
856	4	0	\|u https://www.mdpi.com/1424-8220/22/11/4164 \|z kostenfrei
856	4	2	\|u https://doaj.org/toc/1424-8220 \|y Journal toc \|z kostenfrei
912			\|a GBV_USEFLAG_A
912			\|a SYSFLAG_A
912			\|a GBV_DOAJ
912			\|a GBV_ILN_20
912			\|a GBV_ILN_22
912			\|a GBV_ILN_23
912			\|a GBV_ILN_24
912			\|a GBV_ILN_31
912			\|a GBV_ILN_39
912			\|a GBV_ILN_40
912			\|a GBV_ILN_60
912			\|a GBV_ILN_62
912			\|a GBV_ILN_63
912			\|a GBV_ILN_65
912			\|a GBV_ILN_69
912			\|a GBV_ILN_70
912			\|a GBV_ILN_73
912			\|a GBV_ILN_95
912			\|a GBV_ILN_105
912			\|a GBV_ILN_110
912			\|a GBV_ILN_151
912			\|a GBV_ILN_161
912			\|a GBV_ILN_170
912			\|a GBV_ILN_206
912			\|a GBV_ILN_213
912			\|a GBV_ILN_230
912			\|a GBV_ILN_285
912			\|a GBV_ILN_293
912			\|a GBV_ILN_370
912			\|a GBV_ILN_602
912			\|a GBV_ILN_2005
912			\|a GBV_ILN_2009
912			\|a GBV_ILN_2011
912			\|a GBV_ILN_2014
912			\|a GBV_ILN_2055
912			\|a GBV_ILN_2057
912			\|a GBV_ILN_2111
912			\|a GBV_ILN_2507
912			\|a GBV_ILN_4012
912			\|a GBV_ILN_4037
912			\|a GBV_ILN_4112
912			\|a GBV_ILN_4125
912			\|a GBV_ILN_4126
912			\|a GBV_ILN_4249
912			\|a GBV_ILN_4305
912			\|a GBV_ILN_4306
912			\|a GBV_ILN_4307
912			\|a GBV_ILN_4313
912			\|a GBV_ILN_4322
912			\|a GBV_ILN_4323
912			\|a GBV_ILN_4324
912			\|a GBV_ILN_4325
912			\|a GBV_ILN_4335
912			\|a GBV_ILN_4338
912			\|a GBV_ILN_4367
912			\|a GBV_ILN_4700
951			\|a AR
952			\|d 22 \|j 2022 \|e 11, p 4164

Indexfelder

author_variant	j h jh y s ys l y ly f g fg
matchkey_str	article:14248220:2022----::oepeitvcnrlfnvlheelgepaeayoe
hierarchy_sort_str	2022
callnumber-subject-code	TP
publishDate	2022
allfields	10.3390/s22114164 doi (DE-627)DOAJ078986575 (DE-599)DOAJd1f1aebbcfe142d2850705447fec5bcf DE-627 ger DE-627 rakwb eng TP1-1185 Jun He verfasserin aut Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method. mobile robot advanced intelligent control wheeled–legged trajectory tracking model predictive control Chemical technology Yanlong Sun verfasserin aut Limin Yang verfasserin aut Feng Gao verfasserin aut In Sensors MDPI AG, 2003 22(2022), 11, p 4164 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:11, p 4164 https://doi.org/10.3390/s22114164 kostenfrei https://doaj.org/article/d1f1aebbcfe142d2850705447fec5bcf kostenfrei https://www.mdpi.com/1424-8220/22/11/4164 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 11, p 4164
spelling	10.3390/s22114164 doi (DE-627)DOAJ078986575 (DE-599)DOAJd1f1aebbcfe142d2850705447fec5bcf DE-627 ger DE-627 rakwb eng TP1-1185 Jun He verfasserin aut Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method. mobile robot advanced intelligent control wheeled–legged trajectory tracking model predictive control Chemical technology Yanlong Sun verfasserin aut Limin Yang verfasserin aut Feng Gao verfasserin aut In Sensors MDPI AG, 2003 22(2022), 11, p 4164 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:11, p 4164 https://doi.org/10.3390/s22114164 kostenfrei https://doaj.org/article/d1f1aebbcfe142d2850705447fec5bcf kostenfrei https://www.mdpi.com/1424-8220/22/11/4164 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 11, p 4164
allfields_unstemmed	10.3390/s22114164 doi (DE-627)DOAJ078986575 (DE-599)DOAJd1f1aebbcfe142d2850705447fec5bcf DE-627 ger DE-627 rakwb eng TP1-1185 Jun He verfasserin aut Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method. mobile robot advanced intelligent control wheeled–legged trajectory tracking model predictive control Chemical technology Yanlong Sun verfasserin aut Limin Yang verfasserin aut Feng Gao verfasserin aut In Sensors MDPI AG, 2003 22(2022), 11, p 4164 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:11, p 4164 https://doi.org/10.3390/s22114164 kostenfrei https://doaj.org/article/d1f1aebbcfe142d2850705447fec5bcf kostenfrei https://www.mdpi.com/1424-8220/22/11/4164 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 11, p 4164
allfieldsGer	10.3390/s22114164 doi (DE-627)DOAJ078986575 (DE-599)DOAJd1f1aebbcfe142d2850705447fec5bcf DE-627 ger DE-627 rakwb eng TP1-1185 Jun He verfasserin aut Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method. mobile robot advanced intelligent control wheeled–legged trajectory tracking model predictive control Chemical technology Yanlong Sun verfasserin aut Limin Yang verfasserin aut Feng Gao verfasserin aut In Sensors MDPI AG, 2003 22(2022), 11, p 4164 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:11, p 4164 https://doi.org/10.3390/s22114164 kostenfrei https://doaj.org/article/d1f1aebbcfe142d2850705447fec5bcf kostenfrei https://www.mdpi.com/1424-8220/22/11/4164 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 11, p 4164
allfieldsSound	10.3390/s22114164 doi (DE-627)DOAJ078986575 (DE-599)DOAJd1f1aebbcfe142d2850705447fec5bcf DE-627 ger DE-627 rakwb eng TP1-1185 Jun He verfasserin aut Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method. mobile robot advanced intelligent control wheeled–legged trajectory tracking model predictive control Chemical technology Yanlong Sun verfasserin aut Limin Yang verfasserin aut Feng Gao verfasserin aut In Sensors MDPI AG, 2003 22(2022), 11, p 4164 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:22 year:2022 number:11, p 4164 https://doi.org/10.3390/s22114164 kostenfrei https://doaj.org/article/d1f1aebbcfe142d2850705447fec5bcf kostenfrei https://www.mdpi.com/1424-8220/22/11/4164 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 22 2022 11, p 4164
language	English
source	In Sensors 22(2022), 11, p 4164 volume:22 year:2022 number:11, p 4164
sourceStr	In Sensors 22(2022), 11, p 4164 volume:22 year:2022 number:11, p 4164
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	mobile robot advanced intelligent control wheeled–legged trajectory tracking model predictive control Chemical technology
isfreeaccess_bool	true
container_title	Sensors
authorswithroles_txt_mv	Jun He @@aut@@ Yanlong Sun @@aut@@ Limin Yang @@aut@@ Feng Gao @@aut@@
publishDateDaySort_date	2022-01-01T00:00:00Z
hierarchy_top_id	331640910
id	DOAJ078986575
language_de	englisch
fullrecord	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">DOAJ078986575</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240414211204.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230307s2022 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.3390/s22114164</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)DOAJ078986575</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DOAJd1f1aebbcfe142d2850705447fec5bcf</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TP1-1185</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Jun He</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2022</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">mobile robot</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">advanced intelligent control</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">wheeled–legged</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">trajectory tracking</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">model predictive control</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Chemical technology</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Yanlong Sun</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Limin Yang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Feng Gao</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">Sensors</subfield><subfield code="d">MDPI AG, 2003</subfield><subfield code="g">22(2022), 11, p 4164</subfield><subfield code="w">(DE-627)331640910</subfield><subfield code="w">(DE-600)2052857-7</subfield><subfield code="x">14248220</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:22</subfield><subfield code="g">year:2022</subfield><subfield code="g">number:11, p 4164</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doi.org/10.3390/s22114164</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doaj.org/article/d1f1aebbcfe142d2850705447fec5bcf</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://www.mdpi.com/1424-8220/22/11/4164</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">https://doaj.org/toc/1424-8220</subfield><subfield code="y">Journal toc</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_DOAJ</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_20</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_22</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_23</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_31</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_39</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_40</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_60</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_62</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_63</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_65</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_69</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_73</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_95</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_105</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_110</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_151</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_161</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_170</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_206</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_213</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_230</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_285</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_293</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_370</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_602</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2005</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2009</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2011</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2014</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2055</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2057</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2111</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2507</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4012</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4037</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4112</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4125</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4126</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4249</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4305</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4306</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4307</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4313</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4323</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4324</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4325</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4335</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4338</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4367</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4700</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">22</subfield><subfield code="j">2022</subfield><subfield code="e">11, p 4164</subfield></datafield></record></collection>
callnumber-first	T - Technology
author	Jun He
spellingShingle	Jun He misc TP1-1185 misc mobile robot misc advanced intelligent control misc wheeled–legged misc trajectory tracking misc model predictive control misc Chemical technology Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking
authorStr	Jun He
ppnlink_with_tag_str_mv	@@773@@(DE-627)331640910
format	electronic Article
delete_txt_mv	keep
author_role	aut aut aut aut
collection	DOAJ
remote_str	true
callnumber-label	TP1-1185
illustrated	Not Illustrated
issn	14248220
topic_title	TP1-1185 Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking mobile robot advanced intelligent control wheeled–legged trajectory tracking model predictive control
topic	misc TP1-1185 misc mobile robot misc advanced intelligent control misc wheeled–legged misc trajectory tracking misc model predictive control misc Chemical technology
topic_unstemmed	misc TP1-1185 misc mobile robot misc advanced intelligent control misc wheeled–legged misc trajectory tracking misc model predictive control misc Chemical technology
topic_browse	misc TP1-1185 misc mobile robot misc advanced intelligent control misc wheeled–legged misc trajectory tracking misc model predictive control misc Chemical technology
format_facet	Elektronische Aufsätze Aufsätze Elektronische Ressource
format_main_str_mv	Text Zeitschrift/Artikel
carriertype_str_mv	cr
hierarchy_parent_title	Sensors
hierarchy_parent_id	331640910
hierarchy_top_title	Sensors
isfreeaccess_txt	true
familylinks_str_mv	(DE-627)331640910 (DE-600)2052857-7
title	Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking
ctrlnum	(DE-627)DOAJ078986575 (DE-599)DOAJd1f1aebbcfe142d2850705447fec5bcf
title_full	Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking
author_sort	Jun He
journal	Sensors
journalStr	Sensors
callnumber-first-code	T
lang_code	eng
isOA_bool	true
recordtype	marc
publishDateSort	2022
contenttype_str_mv	txt
author_browse	Jun He Yanlong Sun Limin Yang Feng Gao
container_volume	22
class	TP1-1185
format_se	Elektronische Aufsätze
author-letter	Jun He
doi_str_mv	10.3390/s22114164
author2-role	verfasserin
title_sort	model predictive control of a novel wheeled–legged planetary rover for trajectory tracking
callnumber	TP1-1185
title_auth	Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking
abstract	Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method.
abstractGer	Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method.
abstract_unstemmed	Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method.
collection_details	GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700
container_issue	11, p 4164
title_short	Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking
url	https://doi.org/10.3390/s22114164 https://doaj.org/article/d1f1aebbcfe142d2850705447fec5bcf https://www.mdpi.com/1424-8220/22/11/4164 https://doaj.org/toc/1424-8220
remote_bool	true
author2	Yanlong Sun Limin Yang Feng Gao
author2Str	Yanlong Sun Limin Yang Feng Gao
ppnlink	331640910
callnumber-subject	TP - Chemical Technology
mediatype_str_mv	c
isOA_txt	true
hochschulschrift_bool	false
doi_str	10.3390/s22114164
callnumber-a	TP1-1185
up_date	2024-07-03T21:02:32.934Z
_version_	1803593242842759169
fullrecord_marcxml	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">DOAJ078986575</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240414211204.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230307s2022 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.3390/s22114164</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)DOAJ078986575</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DOAJd1f1aebbcfe142d2850705447fec5bcf</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TP1-1185</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Jun He</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2022</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled–legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid–flexible coupling mechanism with a hybrid serial–parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled–legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">mobile robot</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">advanced intelligent control</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">wheeled–legged</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">trajectory tracking</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">model predictive control</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Chemical technology</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Yanlong Sun</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Limin Yang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Feng Gao</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">Sensors</subfield><subfield code="d">MDPI AG, 2003</subfield><subfield code="g">22(2022), 11, p 4164</subfield><subfield code="w">(DE-627)331640910</subfield><subfield code="w">(DE-600)2052857-7</subfield><subfield code="x">14248220</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:22</subfield><subfield code="g">year:2022</subfield><subfield code="g">number:11, p 4164</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doi.org/10.3390/s22114164</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doaj.org/article/d1f1aebbcfe142d2850705447fec5bcf</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://www.mdpi.com/1424-8220/22/11/4164</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">https://doaj.org/toc/1424-8220</subfield><subfield code="y">Journal toc</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_DOAJ</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_20</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_22</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_23</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_31</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_39</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_40</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_60</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_62</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_63</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_65</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_69</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_73</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_95</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_105</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_110</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_151</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_161</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_170</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_206</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_213</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_230</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_285</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_293</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_370</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_602</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2005</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2009</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2011</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2014</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2055</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2057</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2111</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2507</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4012</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4037</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4112</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4125</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4126</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4249</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4305</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4306</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4307</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4313</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4323</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4324</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4325</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4335</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4338</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4367</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4700</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">22</subfield><subfield code="j">2022</subfield><subfield code="e">11, p 4164</subfield></datafield></record></collection>
score	7.3973303

Nicht das Richtige dabei?

Schreiben Sie uns!

Model Predictive Control of a Novel Wheeled–Legged Planetary Rover for Trajectory Tracking

Nicht das Richtige dabei?

Zugang & Verfügbarkeit

Vorhandene Bände

Nicht das Richtige dabei?