Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers

Future planetary exploration missions will require wheeled mobile robots ("rovers") to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper, an online estimation method that identifies key terra...

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Bibliographic Details
Published in:IEEE transactions on robotics Vol. 20; no. 5; pp. 921 - 927
Main Authors: Iagnemma, K., Shinwoo Kang, Shibly, H., Dubowsky, S.
Format: Journal Article
Language:English
Published: New York, NY IEEE 01.10.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Algorithms
Applied sciences
Autonomous
Computational modeling
Computer science; control theory; systems
Control theory. Systems
Equations
Exact sciences and technology
Friction
Humans
Mathematical analysis
Mechanical engineering
Mobile robots
On-line systems
Online
Parameter estimation
Robot sensing systems
Robotics
Robots
Soil
Soil (material)
Soils
Space exploration
Terrain
Wheels
Space application
Autonomous system
Crosscountry vehicle
Parameter estimation
Moving robot
Control program
System identification
Robotics
ISSN:1552-3098, 1941-0468
Online Access:Get full text
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Summary:Future planetary exploration missions will require wheeled mobile robots ("rovers") to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper, an online estimation method that identifies key terrain parameters using on-board robot sensors is presented. These parameters can be used for traversability prediction or in a traction control algorithm to improve robot mobility and to plan safe action plans for autonomous systems. Terrain parameters are also valuable indicators of planetary surface soil composition. The algorithm relies on a simplified form of classical terramechanics equations and uses a linear-least squares method to compute terrain parameters in real time. Simulation and experimental results show that the terrain estimation algorithm can accurately and efficiently identify key terrain parameters for various soil types.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829462