Planning and Control Algorithms for Enhanced Rough-Terrain Rover Mobility
نویسندگان
چکیده
Future planetary exploration missions will require rovers to perform difficult tasks in rough terrain, with limited human supervision. Many current motion planning and control algorithms do not consider the physical characteristics of the rover and its environment, which limits their effectiveness in rough terrain. This paper presents an overview of physics-based rover and terrain modeling techniques that allow improved prediction of rough-terrain rover mobility. Kinematic and force models of a rover in rough terrain are presented. A method for on-line estimation of critical terrain physical parameters is presented. A method for on-line estimation of wheel-terrain contact geometry is also presented. It is shown that these modeling techniques can be used in advanced control and motion planning algorithms to improve a rover’s rough-terrain mobility.
منابع مشابه
On-Line Terrain Parameter Estimation for Planetary Rovers
Future planetary exploration missions will require rovers to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper an on-line estimation method that identifies key terrain parameters using on-board rover sensors is presented. These parameters can be used for accurate traversability prediction or in a ...
متن کاملControl of Robotic Vehicles with Actively Articulated Suspensions in Rough Terrain
Future robotic vehicles will perform challenging tasks in rough terrain, such as planetary exploration and military missions. Rovers with actively articulated suspensions can improve rough-terrain mobility by repositioning their center of mass. This paper presents a method to control actively articulated suspensions to enhance rover tipover stability. A stability metric is defined using a quasi...
متن کاملTerramechanics-based Analysis and Control for Lunar/Planetary Exploration Robots
Surface mobility using wheeled mobile robots (Rovers) is one of the important technologies for lunar/planetary exploration missions. The rover in these missions significantly expands the exploration area and thus increases the scientific or programmatic return from the mission. These planetary exploration rovers are expected to travel long distances and perform complex tasks in order to fulfill...
متن کاملRapid Physics-Based Rough-Terrain Rover Planning with Sensor and Control Uncertainty
In future planetary exploration missions, rovers will be required to autonomously traverse challenging environments. Much of the previous work in robot motion planning cannot be successfully applied to the rough-terrain planning problem. A model-based planning method is presented in this paper that is computationally efficient and takes into account uncertainty in the robot model, terrain model...
متن کاملDevelopment of Planetary Exploration Rover with Advanced Mobility and Intelligence
This paper describes an introduction of an exploration rover prototype and a field experiment with it at a lunar and Martian analogue terrain. The self-sustainable system of the rover consists of several subsystems, mobility, navigation, electrical power, sensor, communication and data handling, allowing it to perform end-to-end operations. In the field test, the mobility performance on rough t...
متن کامل