中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Kinematics-based velocity estimation of lunar rovers

文献类型:会议论文

作者Song XK(宋小康); Wang YC(王越超); Wu ZW(吴镇炜); Bu CG(卜春光); Chang Y(常勇)
出版日期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
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.

入库方式: OAI收割

来源:沈阳自动化研究所

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