Slope Traversal Controls for Planetary Exploration Rover on Sandy Terrain
Slope Traversal Controls for Planetary Exploration Rover on Sandy Terrain
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DOI：
10.1002/rob.20277
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发表时间：
2009-03-01
影响因子：
8.3
通讯作者：
Yoshida, Kazuya
中科院分区：
文献类型：
--
作者：
Ishigami, Genya;Nagatani, Keiji;Yoshida, Kazuya
本文提出了两种探测车穿越沙坡地形的控制方法。所提出的控制之一是基于模型的前馈控制使用的特性图，称为推力转弯特性图。它由不同的车轮滑移条件下的各种车轮力特性曲线组成。一个适当的转向操纵斜坡穿越可以找到使用图表与斜坡穿越标准。另一种控制是基于传感器的反馈控制。这种反馈控制的关键方法是补偿三种类型的滑移，即车辆侧滑和车轮的纵向/横向滑移。反馈控制计算转向和驾驶机动，可以补偿这些滑动，也允许漫游者成功地穿越桑迪斜坡。这两种控制方法的性能得到证实，在斜坡遍历实验中使用的四轮漫游车试验台。所提出的控制验证的距离和方向误差的定量评价。通过实验，发现两种控制方法各有优缺点，并探讨了将基于模型的控制与基于传感器的控制相结合的可能性。(c)2009 Wiley Periodicals，Inc.
In this paper, two control approaches are presented for exploration rovers traversing sandy-sloped terrain. One of the proposed controls is a model-based feed-forward control using a characteristic diagram, called a thrust-cornering characteristic diagram. It consists of various characteristic curves of wheel forces for varied wheel slip conditions. An appropriate steering maneuver for slope traversal can be found using the diagram with slope traversal criteria. The other control is a sensor-based feedback control. A key approach to this feedback control is to compensate for three types of slip, namely, the vehicle sideslip and longitudinal/lateral slips of a wheel. The feedback control calculates both steering and driving maneuvers that can compensate for these slips and also allow the rover to successfully traverse a sandy slope. The performances of these two control approaches are confirmed in slope traversal experiments using a four-wheeled rover test bed. The proposed controls are verified by quantitative evaluations of distance and orientation errors. Through the experiment, it was found that the two controls have advantages and disadvantages, and the possibility of merging the model-based control and the sensor-based control is discussed. (c) 2009 Wiley Periodicals, Inc.