Doppler-Based Ground Speed Sensor Fusion and Slip Control for a Wheeled Rover

High-speed unmanned ground vehicles evolving on natural terrains can exhibit a significant slip and skid. An estimation of both friction and traction forces can allow to achieve a better control. In order to implement a control architecture based on the vehicle dynamic model and the wheel-soil inter...

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Published inIEEE/ASME transactions on mechatronics Vol. 14; no. 4; pp. 484 - 492
Main Authors Lhomme-Desages, D., Grand, C., Guinot, J.-C., Ben Amar, F.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2009
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Institute of Electrical and Electronics Engineers
Subjects
Angular velocity
Architecture
Automatic
Automotive wheels
Doppler
Doppler radar
Engineering Sciences
field robotics
Force control
Friction
Ground speed
Land vehicles
Mechatronics
Road vehicles
rover
Sensor fusion
Slip
Slippage
Vehicle dynamics
Vehicles
Velocity measurement
wheel-soil interaction
Wheels
rover
slippage
wheel-soil interaction
Doppler
field robotics
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Abstract High-speed unmanned ground vehicles evolving on natural terrains can exhibit a significant slip and skid. An estimation of both friction and traction forces can allow to achieve a better control. In order to implement a control architecture based on the vehicle dynamic model and the wheel-soil interaction model, the knowledge of the wheels slip rate is required. The wheel angular velocities can be precisely measured. But the true measurement of the ground speed of the vehicle is much more challenging. A low-cost Doppler radar is used, in conjunction with an accelerometer, to obtain the ground speed. Thus, the knowledge of the slip rate allows us to setup an in situ procedure for the estimation of soil parameters that is based on the measurement of the motors torques. A wheel slippage controller has also been implemented, which is a first step toward high-level dynamic control.
AbstractList High-speed unmanned ground vehicles evolving on natural terrains can exhibit a significant slip and skid. An estimation of both friction and traction forces can allow to achieve a better control. In order to implement a control architecture based on the vehicle dynamic model and the wheel-soil interaction model, the knowledge of the wheels slip rate is required. The wheel angular velocities can be precisely measured. But the true measurement of the ground speed of the vehicle is much more challenging. A low-cost Doppler radar is used, in conjunction with an accelerometer, to obtain the ground speed. Thus, the knowledge of the slip rate allows us to setup an in situ procedure for the estimation of soil parameters that is based on the measurement of the motors torques. A wheel slippage controller has also been implemented, which is a first step toward high-level dynamic control.
Author Grand, C.
Guinot, J.-C.
Lhomme-Desages, D.
Ben Amar, F.
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Keywords rover
slippage
wheel-soil interaction
Doppler
field robotics
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Snippet High-speed unmanned ground vehicles evolving on natural terrains can exhibit a significant slip and skid. An estimation of both friction and traction forces...
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SubjectTerms Angular velocity
Architecture
Automatic
Automotive wheels
Doppler
Doppler radar
Engineering Sciences
field robotics
Force control
Friction
Ground speed
Land vehicles
Mechatronics
Road vehicles
rover
Sensor fusion
Slip
Slippage
Vehicle dynamics
Vehicles
Velocity measurement
wheel-soil interaction
Wheels
Title Doppler-Based Ground Speed Sensor Fusion and Slip Control for a Wheeled Rover
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