Online estimation of wheel-ground contact angle and slip for a six-wheeled lunar rover

Wheel-ground contact angle and wheel slip estimation of a skid-steered mobile robot is challenging because of the complex wheel/ground ie estimation interactions and kinematics constraints. Real time estimation of these parameters is essential in achieving precise, robust autonomous guidance and con...

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Bibliographic Details
Published in2008 IEEE International Conference on Automation and Logistics pp. 2059 - 2063
Main Authors Yuan LaoHu, Liu Tun, Zhao ZhiPing, Ge WeiPing
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2008
Subjects
Estimation
Extraterrestrial measurements
Lunar rover
Mobile robots
Moon
Navigation
Observer
Robots
wheel slip
Wheel-ground contact angle
Wheels
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Summary:Wheel-ground contact angle and wheel slip estimation of a skid-steered mobile robot is challenging because of the complex wheel/ground ie estimation interactions and kinematics constraints. Real time estimation of these parameters is essential in achieving precise, robust autonomous guidance and control of the mobile robot. In this paper, we present a discrete KF-based on wheel-ground contact angle and wheel slip estimation scheme for a skid-steered lunar rover by combining drive and guidance system to form a closed control system, in which an observer will work out the slip values and wheel-terrain contact angle by using the measured datum of passed route of lunar roverpsilas mass center. This method ensures more accurate and safety movement and increase driving control quality.
ISBN:9781424425020
1424425026
ISSN:2161-8151
2161-816X
DOI:10.1109/ICAL.2008.4636502