Motion dynamics of a rover with slip-based traction model

K. Yoshida, H. Hamano
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)  
This paper investigates kinetic behavior of a planetary rover with attention to tire-soil traction mechanics and articulated body dynamics, and thereby study the control when the rover travels over natural rough terrain. Experiments are carried out with a rover test bed to observe the physical phenomena of soils and to model the traction mechanics, using the tire slip ratio as a state variable. The relationship of load-traction factor versus the slip ratio is modeled theoretically then verified
more » ... cally then verified by experiments, as well as specific parameters to characterize the soil are identified. A dynamic simulation model is developed considering the characteristics of wheel actuators, the mechanics of tire-soil traction, and the articulated body dynamics of a suspension mechanism. Simulations are carried out to be compared with the corresponding experimental data and verified to represent the physical behavior of a rover. Intorduction The effectiveness of a surface locomotion rover in planetary exploration has been proven by NASA's Pathfinder mission in 1997 [1] and, in upcoming missions, rovers are expected to traverse much longer distance over more challenging terrain, then achieve more complex tasks. Corresponding to such growing attention, there are an increasing number of research papers being published to deal with technological issues on exploration rovers. The research area is very broad from mission design and analysis [3][4], rover designs [5][6][7], sensing and navigation, obstacle avoidance, path planning [8], motion kinematics and slip model [9], field test [10] [11] , and so on. However, very few have dealt with motion dynamics of rovers yet. This is because the rovers are, so far, considered to move too slowly to experience dynamic effect, and also the dynamic analysis requires complicated models and computation.
doi:10.1109/robot.2002.1013712 dblp:conf/icra/YoshidaH02 fatcat:a6smsdojuncbjfcbndqo2nj6bq