Study on Modeling and Control of All-terrain Mobile Robots

Focusing on rough terrain mobility and security problems,this paper outlines the literatures mainly related to the modeling and control of all-terrain mobile robots from the aspects of robot modeling,wheelterrain contact,wheel slip,traction control and stability control.Meanwhile, the current research status,especially the latest research progresses,is analyzed in this work.At the end,this paper gives a discussion on the development trends of all-terrain mobile robots.