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

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

51 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ5552-5557
ページ数6
DOI
出版ステータスPublished - 2006 12月 1
外部発表はい
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
継続期間: 2006 10月 92006 10月 15

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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