Kinematics-based velocity estimation of lunar rovers

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Kinematics-based velocity estimation of lunar rovers
	Song XK(宋小康); Wang YC(王越超); Wu ZW(吴镇炜); Bu CG(卜春光); Chang Y(常勇)
	2007
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
会议日期	December 15-18, 2007
会议地点	Sanya, China
关键词	lunar rover mechanics modeling wheel-terrain interaction gyro filtering velocity calculation
页码	1568-1573
中文摘要	Wheeled mobile robots are increasingly being utilized in unknown and dangerous situations such as lunar surface exploration. Velocity estimation is of importance for lunar rovers to autonomously navigate and successfully traverse on rough terrains. The dynamic effects occurring at the wheel-terrain interface such as wheel slips make it difficult to real-time estimate the rover's velocity only by position-measurement sensors. Effective acceleration sensor data are hard to observe since lunar rovers usually move at a very slow speed. This paper proposes a kinematics-based method for velocity estimation of lunar rovers by using wheel encoders and gyro measurements. Treating the lunar rover with passively compliant mechanisms as a series-parallel multi-body system, we can directly build the whole kinematics model based on closed velocity chain theory. The wheel-terrain physical contact and wheel slips involving rolling slip, side slip and turning slip are also investigated. The forward velocity calculation is achieved based on solving kinematics of the rover. Low-accuracy gyro signals are modelled as a stochastic procedure and processed with the standard Kalman filter. Physical experimental results of gyro signals filtering and velocity estimation are given to show the validity and usefulness of the methods. This kinematics-based velocity estimation method can be easily performed based on on-board sensors with low system cost.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
会议录	2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-1761-2
WOS记录号	WOS:000257065801107
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8753]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Song XK,Wang YC,Wu ZW,et al. Kinematics-based velocity estimation of lunar rovers[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007.