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Adaptive Behavior for Mobile RobotsThe term "System for Mobility and Access to Rough Terrain" (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.
Document ID
Acquisition Source
Jet Propulsion Laboratory
Document Type
Other - NASA Tech Brief
Huntsberger, Terrance
(California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
August 1, 2009
Publication Information
Publication: NASA Tech Briefs, August 2009
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
Distribution Limits
Public Use Permitted.
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