Paper Title:
Driving Control of Planetary Rover Based on Slip Ratio Estimation
  Abstract

Slip-sinkage is one of the main factors influencing the driving safety of planetary rover in soft terrain. In the environment of scarce features, based on the stereo visual sensors, the visual odometry algorithm is firstly developed to calculate the position changes of planetary rover with six degrees of freedom, which combine with the wheel speed sensor achieve the estimation of wheel slip ratios. Then, on the basis of mechanical analysis of soft terrain, choosing the slip ratio as the state variable, the coordinated driving control algorithm is designed. Simulation and experiment results demonstrate the effectiveness of the proposed control algorithm.

  Info
Periodical
Chapter
Chapter 6: Frontiers of Mechanical Engineering (1)
Edited by
Dongye Sun, Wen-Pei Sung and Ran Chen
Pages
3238-3242
DOI
10.4028/www.scientific.net/AMM.121-126.3238
Citation
L. H. Li, Y. B. Zhao, J. Lian, S. M. Wu, "Driving Control of Planetary Rover Based on Slip Ratio Estimation", Applied Mechanics and Materials, Vols. 121-126, pp. 3238-3242, 2012
Online since
October 2011
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Price
$32.00
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