Abstract:The problem of determining wheel torques of a rover, to minimize friction requirement, has been addressed by many researchers. We address it by trying to understand the ways in which local optima can occur, and on the basis of that understanding, develop analytical and non-iterative algorithms for determining global optima. The problem is posed in two variations, with normal reaction forces on wheels bounded below by (a) zero, and (b) a positive limit. In both cases, the nature of optima is studied comprehensi… Show more
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