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On-Line Terrain Parameter Estimation for Planetary Rovers
Massachusetts Institute of Technology, Cambridge, MA, United States.
Birzeit University, Birzeit, Palestinian Territories.
Massachusetts Institute of Technology, Cambridge, MA, United States.
2002 (engelsk)Inngår i: Proceedings: 2002 IEEE International Conference on Robotics and Automation, May 11–15, Washington D.C., Piscataway, NJ: IEEE Press, 2002, Vol. 3, s. 3142-3147Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Future planetary exploration missions will require rovers to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper an on-line estimation method that identifies key terrain parameters using on-board rover sensors is presented. These parameters can be used for accurate traversability prediction or in a traction control algorithm. These parameters are also valuable indicators of planetary surface soil composition. Simulation and experimental results show that the terrain estimation algorithm can accurately and efficiently identify key terrain parameters for loose sand.

sted, utgiver, år, opplag, sider
Piscataway, NJ: IEEE Press, 2002. Vol. 3, s. 3142-3147
Serie
IEEE International Conference on Robotics & Automation (ICRA), ISSN 1050-4729
Emneord [en]
Equations, Friction, Mechanical engineering, Mobile robots, Orbital robotics, Parameter estimation, Soil, Space technology, Vehicles, Wheels, Mars, mobile robots, parameter estimation, terrain mapping, loose sand, on-line terrain parameter estimation, planetary exploration missions, planetary rovers, planetary surface soil composition, rough-terrain mobility, rover sensors, terrain estimation algorithm, terrain parameters, traction control algorithm, traversability prediction, wheel-terrain interaction
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Identifikatorer
URN: urn:nbn:se:hh:diva-20828DOI: 10.1109/ROBOT.2002.1013710ISI: 000178573200496Scopus ID: 2-s2.0-0036060424ISBN: 0-7803-7272-7 OAI: oai:DiVA.org:hh-20828DiVA, id: diva2:586704
Konferanse
2002 IEEE International Conference on Robotics and Automation (ICRA 2002), Washington, DC, United States, 11-15 May, 2002
Merknad

This work is supported by the NASA Jet Propulsion Laboratory.

Tilgjengelig fra: 2013-01-12 Laget: 2013-01-12 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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