Path following control with slip compensation on loose soil for exploration rover

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

47 Citations (Scopus)

Abstract

In this paper, a path following control strategy for lunar/planetary exploration rovers is described, taking into account slip motion of the rover. It is determined that the slip motion of each wheel of the rover must be increased and cannot be neglected when the rover travels on loose soil. Because of slip, following an arbitrary path on loose soil is a difficult task. In order to improve this situation, the authors have developed a path following algorithm with slip compensation. In this algorithm, both steering and driving maneuvers of the rover are derived not only to follow an arbitrary path, but also simultaneously compensate for the slip. The performance of the path following strategy is confirmed through numerical simulation using the wheel-and-vehicle model elaborated in our previous research. The slip motion of the wheel is also addressed, based on a terramechanics approach. The proposed path following algorithm shows better performance than traditional control without slip compensation in the simulation.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages5552-5557
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Ishigami, G., Nagatani, K., & Yoshida, K. (2006). Path following control with slip compensation on loose soil for exploration rover. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 5552-5557). [4059315] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282271