Incipient Immobilization Detection for Lightweight Rovers Operating in Deformable Terrain
Incipient Immobilization Detection for Lightweight Rovers Operating in Deformable Terrain
复制标题
在可变形地形中运行的轻型漫游车的初始固定检测
DOI：
10.1115/1.4056408
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Ray, Laura R.
中科院分区：
文献类型：
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作者：
Lines, Austin;Elliott, Joshua;Ray, Laura R.
本文提出了一种检测在具有高空间变异性的可变形地形中运行的轮式移动机器人的初始固定的新方法。这种方法使用来自四轮刚性底盘漫游车的本体感受传感器数据，该漫游车在粘合不良、可压缩的雪中运行，以开发机器人操作的规范动态系统模型。这些作为多模型估计算法中的假设，用于实时预测机器人的移动性。这种预测方法消除了选择经验车轮-地形相互作用模型、确定地形力学参数值或收集机器学习分类所需的大型训练数据集的需要。当对现场数据进行测试时，这种新方法会在流动站完全固定之前发出平均 1.8 m 和 2.9 s 的移动性下降警告。当在多变地形中采用被动悬架操纵的漫游车的模拟场景中进行评估时，该系统也被证明是可靠的固定预测器。
This article presents a new method of detecting incipient immobilization for a wheeled mobile robot operating in deformable terrain with high spatial variability. This approach uses proprioceptive sensor data from a four-wheeled, rigid chassis rover operating in poorly bonded, compressible snow to develop canonic, dynamical system models of robot’s operation. These serve as hypotheses in a multiple model estimation algorithm used to predict the robot’s mobility in real time. This prediction method eliminates the need for choosing an empirical wheel–terrain interaction model, determining terramechanics parameter values, or for collecting large training datasets needed for machine learning classification. When tested on field data, this new method warns of decreased mobility an average of 1.8 m and 2.9 s before the rover is completely immobilized. This system also proves to be a reliable predictor of immobilization when evaluated in simulated scenarios of rovers with passive suspension maneuvering in more variable terrain.