A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

doi:10.1016/j.ymssp.2017.11.038

CORC > 金属研究所 > 中国科学院金属研究所

	A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots
	Li, Yuankai 2,3; Ding, Liang 4; Zheng, Zhizhong 5; Yang, Qizhi 1,3; Zhao, Xingang 3; Liu, Guangjun 6
刊名	MECHANICAL SYSTEMS AND SIGNAL PROCESSING
	2018-05-01
卷号	104 页码:758-775
关键词	Terrain parameters Real-time estimation Multi-mode recursive Gauss-Newton method adaptive robust extended Kalman filter
ISSN号	0888-3270
DOI	10.1016/j.ymssp.2017.11.038
通讯作者	Li, Yuankai(yuankai.li@uestc.edu.cn) ; Ding, Liang(liangding@hit.edu.cn)
英文摘要	For motion control of wheeled planetary rovers traversing on deformable terrain, real-time terrain parameter estimation is critical in modeling the wheel-terrain interaction and compensating the effect of wheel slipping. A multi-mode real-time estimation method is proposed in this paper to achieve accurate terrain parameter estimation. The proposed method is composed of an inner layer for real-time filtering and an outer layer for online update. In the inner layer, sinkage exponent and internal frictional angle, which have higher sensitivity than that of the other terrain parameters to wheel-terrain interaction forces, are estimated in real time by using an adaptive robust extended Kalman filter (AREKF), whereas the other parameters are fixed with nominal values. The inner layer result can help synthesize the current wheel-terrain contact forces with adequate precision, but has limited prediction capability for time-variable wheel slipping. To improve estimation accuracy of the result from the inner layer, an otter layer based on recursive Gauss-Newton (RGN) algorithm is introduced to refine the result of real-time filtering according to the innovation contained in the history data. With the two-layer structure, the proposed method can work in three fundamental estimation modes: EKF, REKF and RGN, making the method applicable for flat, rough and non-Uniform terrains. Simulations have demonstrated the effectiveness of the proposed method under three terrain types, showing the advantages of introducing the two-layer structure. (C) 2017 Elsevier Ltd. All rights reserved.
资助项目	Natural Sciences and Engineering Research Council (NSERC) ; Canada Research Chair (CRC) ; China State Key Laboratory of Robotics[2013-O08] ; SRF ; SEM ; China Fundamental Research Funds for the Central Universities[ZYGX-2014-J098]
WOS研究方向	Engineering
语种	英语
出版者	ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
WOS记录号	WOS:000423652800049
资助机构	Natural Sciences and Engineering Research Council (NSERC) ; Canada Research Chair (CRC) ; China State Key Laboratory of Robotics ; SRF ; SEM ; China Fundamental Research Funds for the Central Universities
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/127554]
专题	金属研究所_中国科学院金属研究所
通讯作者	Li, Yuankai; Ding, Liang
作者单位	1.Jiangsu Univ, Sch Mech Engn, Zhenjiang, Peoples R China 2.Univ Elect Sci & Technol China, Sch Aeronaut & Astronaut, Chengdu, Sichuan, Peoples R China 3.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China 4.Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Heilongjiang, Peoples R China 5.Natl Engn & Technol Res Ctr Digital Switching Sys, Zhengzhou, Henan, Peoples R China 6.Ryerson Univ, Dept Aerosp Engn, Toronto, ON, Canada
推荐引用方式 GB/T 7714	Li, Yuankai,Ding, Liang,Zheng, Zhizhong,et al. A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots[J]. MECHANICAL SYSTEMS AND SIGNAL PROCESSING,2018,104:758-775.
APA	Li, Yuankai,Ding, Liang,Zheng, Zhizhong,Yang, Qizhi,Zhao, Xingang,&Liu, Guangjun.(2018).A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots.MECHANICAL SYSTEMS AND SIGNAL PROCESSING,104,758-775.
MLA	Li, Yuankai,et al."A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots".MECHANICAL SYSTEMS AND SIGNAL PROCESSING 104(2018):758-775.