Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain
Joint Authors
Deng, Zongquan
Gao, Haibo
Xia, Kerui
Liu, Yiqun
Li, Zhijun
Duan, Guang-ren
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-26
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
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.
American Psychological Association (APA)
Liu, Yiqun& Gao, Haibo& Deng, Zongquan& Li, Zhijun& Xia, Kerui& Duan, Guang-ren. 2014. Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1051050
Modern Language Association (MLA)
Gao, Haibo…[et al.]. Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain. The Scientific World Journal No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-1051050
American Medical Association (AMA)
Liu, Yiqun& Gao, Haibo& Deng, Zongquan& Li, Zhijun& Xia, Kerui& Duan, Guang-ren. Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1051050
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1051050