Online estimation of wheel-ground contact angle and slip for a six-wheeled lunar rover

Wheel-ground contact angle and wheel slip estimation of a skid-steered mobile robot is challenging because of the complex wheel/ground ie estimation interactions and kinematics constraints. Real time estimation of these parameters is essential in achieving precise, robust autonomous guidance and control of the mobile robot. In this paper, we present a discrete KF-based on wheel-ground contact angle and wheel slip estimation scheme for a skid-steered lunar rover by combining drive and guidance system to form a closed control system, in which an observer will work out the slip values and wheel-terrain contact angle by using the measured datum of passed route of lunar roverpsilas mass center. This method ensures more accurate and safety movement and increase driving control quality.