Experimental results from FLEXnav: an expert rule-based dead-reckoning system for Mars rovers

Author

Ojeda, Lauro ; Reina, Giulio ; Borenstein, Johann

Author_Institution

Adv. Technol. Lab., Michigan Univ., Ann Arbor, MI, USA

Volume

2

fYear

2004

fDate

6-13 March 2004

Firstpage

816

Abstract

This paper presents a proprioceptive position estimation system (PPE) with inertial measurement unit (IMU) uses fuzzy logic operations in conjunction with the expert rules for finer gradation called fuzzy logic expert navigation (FLEXnav) PPE system. The detailed experimental results obtained with our FLEXnav system integrated with our Mars rover clone Fluffy and operating in a Mars-like environment. The paper also introduces new methods for wheel slippage detection and correction, along with preliminary experimental results.

Keywords

Mars; aerospace control; fuzzy logic; knowledge based systems; motion estimation; navigation; planetary rovers; Mars rover clone Fluffy; dead reckoning system; expert rule based system; fuzzy logic expert navigation system; inertial measurement unit; proprioceptive position estimation system; wheel slippage correction; wheel slippage detection; Current measurement; Fuzzy logic; Mars; Measurement units; Mobile robots; Optical fiber sensors; Position measurement; Sampling methods; Sensor systems; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Aerospace Conference, 2004. Proceedings. 2004 IEEE

ISSN

1095-323X

Print_ISBN

0-7803-8155-6

Type

conf

DOI

10.1109/AERO.2004.1367682

Filename

1367682