Title :
Model based roll axis control of a terrain adapting Mars rover
Author :
Gajjar, Bhargav ; Johnson, Roger
Author_Institution :
Space Syst. Lab, Central Florida Univ., Orlando, FL, USA
Abstract :
This paper uses aspects of dead reckoning for "terrain adapting" a mobile robot moving over a rocky terrain like that of Mars. Besides the use of wheel encoders, an accelerometer and a rate gyro is used to sense the motion of the rover chassis and stabilize it, along the roll axis with the terrain adapting system. The rate sensor data is fused with the wheel velocity data from the wheel encoder and the accelerometer information to control the terrain-adapting arm. A contemporary Kalman filter system is utilized to condition the input to the model based system, and a nonlinear control for the robot\´s terrain adaptation system has been developed to generate asymptotic stability. Finally, simulation results have been developed considering the design requirements for an actual prototype.
Keywords :
Kalman filters; asymptotic stability; gyroscopes; mobile robots; nonlinear control systems; planetary rovers; state estimation; Kalman filter; Mars rover; accelerometer; asymptotic stability; dead reckoning; mobile robot; model based control; nonlinear control; rate gyro; roll axis control; state conditioning; terrain adapting rover; terrain adapting system; wheel encoders; Accelerometers; Dead reckoning; Mars; Mobile robots; Nonlinear control systems; Robot control; Robot sensing systems; Sensor fusion; Velocity control; Wheels;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177113