Preprint Open access
Path-Following Control and Terramechanics Analysis for Planetary Rovers Under Wheel-to-Wheel Traction Asymmetry
This paper proposes a control strategy for path following that is model-free and relies solely on deceleration for skid-steering planetary rovers navigating deformable loose terrain under continuously imposed traction asymmetry. While conventional controllers that are based on kinematics frequently cause slip-sinkage e …