Terrain features estimation for the lunar/planetary rover control

Yuya Kakehashi, Masaki Takahashi

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

Abstract

One of the most important issues in a design of control system of a lunar/planetary rover is an online estimation that identifies key terrain parameters and terrain characteristics. These terrain features, parameters and characteristics, are used for accurate trafficability prediction or in a traction control algorithm. This study aims at proposing terrain features estimation methods for a rover motion control. In this paper, two estimation methods are proposed. The first is terrain key parameter estimation and the second is estimation of terrain characteristics such as wheel-terrain contact angles. These terrain features are used in the control system to prevent the wheels from spinning or penetrating into the soil in the future. The numerical simulation results show the availability of the proposed estimation methods.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference
DOIs
Publication statusPublished - 2010 Dec 1
EventAIAA Guidance, Navigation, and Control Conference - Toronto, ON, Canada
Duration: 2010 Aug 22010 Aug 5

Publication series

NameAIAA Guidance, Navigation, and Control Conference

Other

OtherAIAA Guidance, Navigation, and Control Conference
CountryCanada
CityToronto, ON
Period10/8/210/8/5

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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  • Cite this

    Kakehashi, Y., & Takahashi, M. (2010). Terrain features estimation for the lunar/planetary rover control. In AIAA Guidance, Navigation, and Control Conference [AIAA 2010-8022] (AIAA Guidance, Navigation, and Control Conference). https://doi.org/10.2514/6.2010-8022