Identification of Terrain Mechanical Parameters for A Six-wheeled Lunar Rover

摘要：

In future planetary exploration missions, the lunar rovers will be working in the incompletely known and uncultured environment, wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper an on-line estimation method that identifies wheel-ground contact angle and wheel slip from trajectory data using an extended Kalman filter is firstly presented. Secondly, the use of a suitable soil model can then allow key soil parameters to be estimated as the rover passes over the soil. Knowledge of the soil parameters may in turn be used to allow reference trajectories and control algorithms to be adjusted to suit the soil condition. Simulation and experiment results show that the terrain and control parameters algorithms can accurately and efficiently be identified for loose sand.

作者: Yuan LaoHu Liu Tun Zhao ZhiPing Ge WeiPing

作者单位: School of Astronautics Harbin Institute of Technology Harbin 150001 China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 675-780

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）