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One Improved Generalized Predictive Motion Controller Based on Slipping Constrains for the Six-Wheeled Rocker Mars Rover

Mars Rover works in a complicated environment with uneven terrain. In order to improve the robot’s dynamic motion ability, traversability and stability, in this paper, an improved generalized predictive motion controller was denoted based on the analysis of the robot’s kinematic model and slipping constrains. The experiments demonstrate the feasibility of the control algorithm for the six-wheeled rocker Mars rover.