Terrain features estimation for the lunar/planetary rover control

Yuya Kakehashi, Masaki Takahashi

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルAIAA Guidance, Navigation, and Control Conference
DOI
出版ステータスPublished - 2010
イベントAIAA Guidance, Navigation, and Control Conference - Toronto, ON, Canada
継続期間: 2010 8月 22010 8月 5

出版物シリーズ

名前AIAA Guidance, Navigation, and Control Conference

Other

OtherAIAA Guidance, Navigation, and Control Conference
国/地域Canada
CityToronto, ON
Period10/8/210/8/5

ASJC Scopus subject areas

  • 航空宇宙工学
  • 制御およびシステム工学

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