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

• Published in: IEEE/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
• Language: English
• 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

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...