Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

Year: 2014

Type: article

Abstract: The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

Source: The Scientific World JOURNAL

DOI: 10.1155/2014/793526

Authors: Liang Ding, Hai-bo Gao, Zong-quan Deng, Zhijun Li, Ke-rui Xia, Guang-ren Duan

Institutions: Harbin Institute of Technology, State Key Laboratory of Robotics and Systems, Key Laboratory of Autonomous Systems and Network Control, Ministry of Education, South China University of Technology

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $860

Funders: National Natural Science Foundation of China, Ministry of Education of the People's Republic of China, Program for New Century Excellent Talents in University, National Key Research and Development Program of China

OpenAlex ID: W1969665018