Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain
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 wh...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/793526 |
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| _version_ | 1832560981072412672 |
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| author | Liang Ding Hai-bo Gao Zong-quan Deng Zhijun Li Ke-rui Xia Guang-ren Duan |
| author_facet | Liang Ding Hai-bo Gao Zong-quan Deng Zhijun Li Ke-rui Xia Guang-ren Duan |
| author_sort | Liang Ding |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-eea2ff946da04a829c349757c345172e |
| institution | Kabale University |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-eea2ff946da04a829c349757c345172e2025-02-03T01:26:16ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/793526793526Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough TerrainLiang Ding0Hai-bo Gao1Zong-quan Deng2Zhijun Li3Ke-rui Xia4Guang-ren Duan5State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, ChinaKey Lab of Autonomous System and Network Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, ChinaThe 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.http://dx.doi.org/10.1155/2014/793526 |
| spellingShingle | Liang Ding Hai-bo Gao Zong-quan Deng Zhijun Li Ke-rui Xia Guang-ren Duan Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain The Scientific World Journal |
| title | Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain |
| title_full | Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain |
| title_fullStr | Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain |
| title_full_unstemmed | Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain |
| title_short | Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain |
| title_sort | path following control of wheeled planetary exploration robots moving on deformable rough terrain |
| url | http://dx.doi.org/10.1155/2014/793526 |
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