Path-following control of wheeled planetary exploration robots moving on deformable rough terrain.
ScientificWorldJournal
; 2014: 793526, 2014.
Article
em En
| MEDLINE
| ID: mdl-24790582
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.
Texto completo:
1
Bases de dados:
MEDLINE
Assunto principal:
Robótica
/
Modelos Teóricos
Idioma:
En
Revista:
ScientificWorldJournal
Assunto da revista:
MEDICINA
Ano de publicação:
2014
Tipo de documento:
Article
País de afiliação:
China