Motion dynamics and control of a planetary rover with slip-based traction model

Kazuya Yoshida; Hiroshi Hamano

doi:10.1117/12.474459

17 July 2002 Motion dynamics and control of a planetary rover with slip-based traction model

Kazuya Yoshida, Hiroshi Hamano

Proceedings Volume 4715, Unmanned Ground Vehicle Technology IV; (2002) https://doi.org/10.1117/12.474459
Event: AeroSense 2002, 2002, Orlando, FL, United States

Abstract

This paper investigates kinetic behavior of a planetary rover with attention to tire-soil traction mechanics and articulated body dynamics, and thereby study the control when the rover travels over natural rough terrain. Experiments are carried out with a rover test bed to observe the physical phenomena of soils and to model the traction mechanics, using the tire slip ratio as a state variable. The relationship of load-traction factor versus the slip ratio is modeled theoretically then verified by experiments, as well as specific parameters to characterize the soil are identified. A dynamic simulation model is developed considering the characteristics of wheel actuators, the mechanics of tire-soil traction, and the articulated body dynamics of a suspension mechanism. Simulations are carried out to be compared with the corresponding experimental data and verified to represent the physical behavior of a rover. Finally, a control method is proposed and tested. The proposed method keeps the slip ratio within a small value and limits excessive tire force, so that the rover can successfully traverse over the obstacle without digging the soil or being stuck.

Citation Download Citation

Kazuya Yoshida and Hiroshi Hamano "Motion dynamics and control of a planetary rover with slip-based traction model", Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); https://doi.org/10.1117/12.474459

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