Driving Control of planetary rover Based on Slip Ratio Estimation

摘要：

　　Slip-sinkage is one of the main factors influencing the driving safety of planetary rover in soft terrain.In the environment of scarce features,based on the stereo visual sensors,the visual odometry algorithm is firstly developed to calculate the position changes of planetary rover with six degrees of freedom,which combine with the wheel speed sensor achieve the estimation of wheel slip ratios.Then,on the basis of mechanical analysis of soft terrain,choosing the slip ratio as the state variable,the coordinated driving control algorithm is designed.Simulation and experiment results demonstrate the effectiveness of the proposed control algorithm.

关键词： Planetary rover Driving control Slip ratio Sliding mode control

作者: Linhui Li Yibing Zhao Jing lian Shumei Wu

作者单位: School of Automotive Engineering, Faculty of Vehicle Engineering and Mechanics,State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University ofTechnology, Dalian, 116024, P R China

会议类型: 国际会议

会议名称: the Second International Conference on Frontiers of Manufacturing and Design Science(第二届制造与设计科学国际会议(ICFMD 2011))

会议地点: 台湾

会议语种:英文

页码: 3238-3242

在线出版日期: 2011-12-11（万方平台首次上网日期，不代表论文的发表时间）