A method to online estimate wheel´s slippage for planetary rover

In the planetary exploration by the wheeled rover, owing to the soft terrain, the longitudinal and lateral slippage always exists while the rover is running which will influence the security of the rover and the success of missions. Therefore, this paper proposes a method to online estimate the longitudinal and lateral slippage based on the rover´s state information. To solve the unknown local coordinate system, some simplifications are employed in the Cartesian coordinate system. The simulations in ROSTDyn validate the proposed method, which indicates that the estimation precision is well.