Title :
Detection method for planet rover slip ratio based on vision measuring technology
Author :
Li Nan ; Ding Liang ; Gao Haibo ; Guo Junlong ; Li Weihua ; Deng Zongquan
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
Planetary rovers need to move in the soft and deformable terrain environment cause of planetary rovers´ wheel slip and sinkage. The detection of rovers´ wheel slip ratio plays a significant role in motion control optimization and sinkage prevention. Experiment shows the relationship between the wheels trace shape and the slip ratio. This paper has proposed a detection method for planet rover slip ratio based on vision measuring technology. The model of slip ratio detection based on the wheels trace image is built on the mechanism of wheels trace. A new vision detection method of planet rover´s slip is also presented, based on the feature of trace vision. This method is verified by the rover wheel experimental extended the vision system. Experiment verifies that this method is feasible and effective. The relative error of slip ratio detected by this method is about 5%.
Keywords :
aerospace computing; aerospace control; computer vision; control engineering computing; feature extraction; motion control; planetary rovers; wheels; deformable terrain environment; feature extraction; motion control optimization; planet rover slip ratio detection method; planetary rover sinkage prevention; planetary rover wheel slip; trace vision; vision detection method; vision measuring technology; vision system; wheel trace shape; wheels trace image; Electronic mail; Extraterrestrial measurements; Feature extraction; Mobile robots; Planets; Wheels; Feature extraction; Planet rover; Rutting; Slip ratio; Vision measuring technology;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
