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题名: Kinematics-based velocity estimation of lunar rovers
作者: Song XK(宋小康) ; Wang YC(王越超) ; Wu ZW(吴镇炜) ; Bu CG(卜春光) ; Chang Y(常勇)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
会议日期: December 15-18, 2007
会议地点: Sanya, China
会议主办者: IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
会议录: 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 1568-1573
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-1761-2
关键词: lunar rover ; mechanics modeling ; wheel-terrain interaction ; gyro filtering ; velocity calculation
摘要: Wheeled mobile robots are increasingly being utilized in unknown and dangerous situations such as lunar surface exploration. Velocity estimation is of importance for lunar rovers to autonomously navigate and successfully traverse on rough terrains. The dynamic effects occurring at the wheel-terrain interface such as wheel slips make it difficult to real-time estimate the rover's velocity only by position-measurement sensors. Effective acceleration sensor data are hard to observe since lunar rovers usually move at a very slow speed. This paper proposes a kinematics-based method for velocity estimation of lunar rovers by using wheel encoders and gyro measurements. Treating the lunar rover with passively compliant mechanisms as a series-parallel multi-body system, we can directly build the whole kinematics model based on closed velocity chain theory. The wheel-terrain physical contact and wheel slips involving rolling slip, side slip and turning slip are also investigated. The forward velocity calculation is achieved based on solving kinematics of the rover. Low-accuracy gyro signals are modelled as a stochastic procedure and processed with the standard Kalman filter. Physical experimental results of gyro signals filtering and velocity estimation are given to show the validity and usefulness of the methods. This kinematics-based velocity estimation method can be easily performed based on on-board sensors with low system cost.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8753
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
宋小康; 王越超; 吴镇炜; 卜春光; 常勇.Kinematics-based velocity estimation of lunar rovers.见:IEEE .2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5,NEW YORK,2007,1568-1573
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