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

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

20 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Automation, ICRA 2008
ページ2295-2300
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
継続期間: 2008 5月 192008 5月 23

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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