Slope traversal experiments with slip compensation control for lunar/planetary exploration rover

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

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

18 Citations (Scopus)

Abstract

This paper presents slope traversal experiments with slip compensation control for lunar/planetary exploration rovers. On loose soil, wheels of the rover easily slip even when the rover travels with relatively low velocity. Because of the slip, following an arbitrary path on loose soil becomes a difficult task for the rover, and also, the slip will increase when the rover traverses a slope. To cope with the slip issue, the authors previously proposed path following control strategy taking wheel slippages into account. Through numerical simulations in the previous work, it has been confirmed that the proposed control effectively compensates and reduces the slip motions of the rover, and then, the rover can follow a given path. In order to confirm the usefulness of the proposed control for practical application, slope traversal experiments using a four-wheeled rover test bed are addressed in this paper. The control performance of the slip compensation is compared to that of no slip control based on motion traces of the rover in side slope traversal case. Further, the effectiveness of the proposed control is verified by quantitative evaluations of distance and orientation errors.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2295-2300
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

Fingerprint

Experiments
Wheels
Soils
Compensation and Redress
Computer simulation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Ishigami, G., Nagatani, K., & Yoshida, K. (2008). Slope traversal experiments with slip compensation control for lunar/planetary exploration rover. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2295-2300). [4543556] https://doi.org/10.1109/ROBOT.2008.4543556

Slope traversal experiments with slip compensation control for lunar/planetary exploration rover. / Ishigami, Genya; Nagatani, Keiji; Yoshida, Kazuya.

Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 2295-2300 4543556.

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

Ishigami, G, Nagatani, K & Yoshida, K 2008, Slope traversal experiments with slip compensation control for lunar/planetary exploration rover. in Proceedings - IEEE International Conference on Robotics and Automation., 4543556, pp. 2295-2300, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 08/5/19. https://doi.org/10.1109/ROBOT.2008.4543556
Ishigami G, Nagatani K, Yoshida K. Slope traversal experiments with slip compensation control for lunar/planetary exploration rover. In Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 2295-2300. 4543556 https://doi.org/10.1109/ROBOT.2008.4543556
Ishigami, Genya ; Nagatani, Keiji ; Yoshida, Kazuya. / Slope traversal experiments with slip compensation control for lunar/planetary exploration rover. Proceedings - IEEE International Conference on Robotics and Automation. 2008. pp. 2295-2300
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