Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in wh...

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Bibliographic Details
Published inTheScientificWorld Vol. 2014; no. 2014; pp. 1 - 13
Main Authors Duan, Guang-ren, Xia, Kerui, Li, Zhijun, Deng, Zongquan, Gao, Haibo, Liu, Yiqun
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 01.01.2014
John Wiley & Sons, Inc
Hindawi Limited
Subjects
Algorithms
Control algorithms
Geometry
Incremental motion control
Kinematics
Mechanical properties
Methods
Mobile robots
Models, Theoretical
Motion
Ratios
Robotics
Robots
Space exploration
Studies
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Summary:The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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Academic Editors: N.-I. Kim, M. A. Seddeek, Z. Zhang, and X. Zhou
ISSN:2356-6140
1537-744X
1537-744X
DOI:10.1155/2014/793526