Online Terrain Parameter Estimation for Wheeled Mobile Robots With Application to Planetary Rovers

2004 ◽  
Vol 20 (5) ◽  
pp. 921-927 ◽  
Author(s):  
K. Iagnemma ◽  
S. Kang ◽  
H. Shibly ◽  
S. Dubowsky
Keyword(s):  
Parameter Estimation ◽  
Mobile Robots ◽  
Wheeled Mobile Robots ◽  
Planetary Rovers

scholarly journals Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain

2014 ◽  
Vol 2014 ◽  
pp. 1-13
Author(s):  
Zhengcai Li ◽  
Yang Wang
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Coordinated Control ◽  
Challenging Problem ◽  
Adaptive Neural Network ◽  
Wheeled Mobile Robots ◽  
Slip Ratio ◽  
Planetary Rovers ◽  
State Variable ◽  
Longitudinal Slip

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system.

Planetary rovers’ wheel–soil interaction mechanics: new challenges and applications for wheeled mobile robots

2010 ◽  
Vol 4 (1) ◽  
pp. 17-38 ◽  
Author(s):  
Liang Ding ◽  
Zongquan Deng ◽  
Haibo Gao ◽  
Keiji Nagatani ◽  
Kazuya Yoshida
Keyword(s):  
Mobile Robots ◽  
Wheeled Mobile Robots ◽  
Planetary Rovers ◽  
New Challenges
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