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首页> 外文期刊>Journal of Field Robotics >Modeling, Analysis, and Control of an Actively Reconfigurable Planetary Rover for Traversing Slopes Covered with Loose Soil
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Modeling, Analysis, and Control of an Actively Reconfigurable Planetary Rover for Traversing Slopes Covered with Loose Soil

机译：主动可重配置的行星漫游车的建模，分析和控制

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摘要

Future planetary rovers are expected to probe across steep sandy slopes such as crater rims where wheel slippage can be a critical problem. One possible solution is to equip locomotion mechanisms with redundant actuators so that the rovers are able to actively reconfigure themselves to adapt to the target terrain. This study modeled a reconfigurable rover to analyze the effects of posture change on rover slippage over sandy slopes. The study also investigated control strategies for a reconfigurable rover to reduce slippage. The proposed mechanical model consists of two models: a complete rover model representing the relationship between the attitude of the rover and the forces acting on each wheel, and a wheel-soil contact force model expressed as a function of slip parameters. By combining these two models, the proposed joint model relates the configuration of the rover to its slippage. The reliability of the proposed model is discussed based on a comparison of slope-traversing experiments and numerical simulations. The results of the simulations show trends similar to those of the experiments and thus the validity of the proposed model. Following the results, a configuration control strategy for a reconfigurable rover was introduced accompanied by orientation control. These controls were implemented on a four-wheeled rover, and their effectiveness was tested on a natural sand dune. The results of the field experiments show the usefulness of the proposed control strategies.
机译：未来的行星漫游者有望跨过陡峭的沙质斜坡，例如火山口轮缘，而轮滑可能是一个关键问题。一种可能的解决方案是为移动机构配备冗余的执行器，以使漫游车能够主动重新配置以适应目标地形。这项研究建立了一个可重配置的流动站模型，以分析姿势变化对沙质斜坡上流动站滑移的影响。该研究还研究了可重组流动站的控制策略，以减少打滑。所提出的机械模型由两个模型组成：一个完整​​的流动站模型，代表流动站的姿态与作用在每个车轮上的力之间的关系，以及表示为滑移参数的车轮-土壤接触力模型。通过结合这两个模型，提出的联合模型将漫游车的配置与其滑移相关联。通过对斜率穿越实验和数值模拟的比较，讨论了所提出模型的可靠性。仿真结果显示出与实验相似的趋势，因此该模型的有效性。根据结果​​，引入了用于可重新配置的流动站的配置控制策略以及方向控制。这些控制是在四轮流浪者上执行的，其有效性已在天然沙丘上进行了测试。现场实验的结果表明了所提出的控制策略的有用性。

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  • 来源
    《Journal of Field Robotics》 |2013年第6期|875-896|共22页
  • 作者

    Hiroaki Inotsume; Masataku Sutoh; Kenji Nagaoka; Keiji Nagatani; Kazuya Yoshida;

  • 作者单位

    Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai, 980-8579, Japan;

    Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai, 980-8579, Japan;

    Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai, 980-8579, Japan;

    Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai, 980-8579, Japan;

    Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai, 980-8579, Japan;

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