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Statistical Approach to Mobility Prediction for Planetary Surface Exploration Rovers in Uncertain Terrain
MIT, USA.
MIT, USA.
MIT, USA.
2009 (English)In: IEEE robotics & automation magazine, ISSN 1070-9932, Vol. 16, no 4, 61-70 p.Article in journal (Refereed) Published
Abstract [en]

Planetary surface exploration rovers must accurately and efficiently predict their mobility on natural, rough terrain. Most approaches to mobility prediction assume precise a priori knowledge of terrain physical parameters, however in practical scenarios knowledge of terrain parameters contains significant uncertainty. In this paper, a statistical method for mobility prediction that incorporates terrain uncertainty is presented. The proposed method consists of two techniques: a wheeled vehicle model for calculating vehicle dynamic motion and wheel-terrain interaction forces, and a stochastic response surface method (SRSM) for modeling of uncertainty. The proposed method generates a predicted motion path of the rover with confidence ellipses indicating the probable rover position due to uncertainty in terrain physical parameters. Rover orientations and wheel slippage are also predicted. The computational efficiency of SRSM as compared to conventional Monte Carlo methods is shown via numerical simulations. Experimental results of rover travel over sloped terrain in two different uncertain terrains are presented that confirms the utility of the proposed mobility prediction method. ©2010 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2009. Vol. 16, no 4, 61-70 p.
Keyword [en]
Interaction forces, Mobility predictions, Motion path, Numerical simulation, Physical parameters, Planetary surface exploration, Priori knowledge, Rough terrains, Sloped terrains, Stochastic response surface methods, Vehicle dynamics, Wheel slippage, Wheeled vehicles
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20704DOI: 10.1109/ROBOT.2010.5509300Scopus ID: 2-s2.0-77955819622OAI: oai:DiVA.org:hh-20704DiVA: diva2:586657
Conference
2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, 3-7 May 2010
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-11Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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  • Other style
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Language
  • de-DE
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Output format
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