Driving Control of Planetary Rover Based on Slip Ratio Estimation

Abstract:

Article Preview

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:

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 et al., "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

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.