Path-following control of wheeled planetary exploration robots moving on deformable rough terrain.
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.
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China.
Liang
L
Ding
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China.
Hai-bo
HB
Gao
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China.
Zong-quan
ZQ
Deng
Key Lab of Autonomous System and Network Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China.
Zhijun
Z
Li
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China.
Ke-rui
KR
Xia
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China.
Guang-ren
GR
Duan
D000465:Algorithms; D008962:Models, Theoretical; D012371:Robotics