A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

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	A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots
	Li YK(李元凯); Ding, Liang ; Zheng, Zhizhong ; Yang, Qizhi ; Zhao XG(赵新刚); Liu GJ(刘光军)
作者部门	机器人学研究室
关键词	Terrain Parameters Real-time Estimation Multi-mode Recursive Gauss-newton Method Adaptive Robust Extended Kalman Filter
发表期刊	Mechanical Systems and Signal Processing
ISSN	0888-3270
	2018
卷号	104 页码:758-775
收录类别	SCI ; EI
EI收录号	20175104547341
WOS记录号	WOS:000423652800049
产权排序	1
资助机构	Natural Sciences and Engineering Research Council (NSERC), the Canada Research Chair (CRC) program, the Open Project of China State Key Laboratory of Robotics (2013-O08), the Project Sponsored by SRF for ROCS, SEM and in part by the China Fundamental Research Funds for the Central Universities (ZYGX-2014-J098).
摘要	For motion control of wheeled planetary rovers traversing on deformable terrain, real-time terrain parameter estimation is critical in modeling the wheel-terrain interaction and compensating the effect of wheel slipping. A multi-mode real-time estimation method is proposed in this paper to achieve accurate terrain parameter estimation. The proposed method is composed of an inner layer for real-time filtering and an outer layer for online update. In the inner layer, sinkage exponent and internal frictional angle, which have higher sensitivity than that of the other terrain parameters to wheel-terrain interaction forces, are estimated in real time by using an adaptive robust extended Kalman filter (AREKF), whereas the other parameters are fixed with nominal values. The inner layer result can help synthesize the current wheel-terrain contact forces with adequate precision, but has limited prediction capability for time-variable wheel slipping. To improve estimation accuracy of the result from the inner layer, an outer layer based on recursive Gauss-Newton (RGN) algorithm is introduced to refine the result of real-time filtering according to the innovation contained in the history data. With the two-layer structure, the proposed method can work in three fundamental estimation modes: EKF, REKF and RGN, making the method applicable for flat, rough and non-uniform terrains. Simulations have demonstrated the effectiveness of the proposed method under three terrain types, showing the advantages of introducing the two-layer structure.
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.sia.cn/handle/173321/21472
专题	机器人学研究室
通讯作者	Li YK(李元凯)
作者单位	1.School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, China 2.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China 3.State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China 4.National Engineering & Technology Research Center for Digital Switching System, Zhengzhou, China 5.School of Mechanical Engineering, Jiangsu University, Zhenjiang, China 6.Department of Aerospace Engineering, Ryerson University, Toronto, Canada
推荐引用方式 GB/T 7714	Li YK,Ding, Liang,Zheng, Zhizhong,et al. A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots[J]. Mechanical Systems and Signal Processing,2018,104:758-775.
APA	Li YK,Ding, Liang,Zheng, Zhizhong,Yang, Qizhi,Zhao XG,&Liu GJ.(2018).A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots.Mechanical Systems and Signal Processing,104,758-775.
MLA	Li YK,et al."A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots".Mechanical Systems and Signal Processing 104(2018):758-775.

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