Paper Info
Title
Slip-compensated path following for planetary exploration rovers
Abstract
A system that enables continuous slip compensation for a Mars rover has been designed, implemented and field-tested. This system is composed of several components that allow the rover to accurately and continuously follow a designated path, compensate for slippage and reach intended goals in high-slip environments. These components include visual odometry, vehicle kinematics, a Kalman filter pose estimator and a slip-compensated path follower. Visual odometry tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs. The kinematics for a rocker-bogie suspension system estimates vehicle motion by measuring wheel rates, and rocker, bogie and steering angles. The Kalman filter processes measurements from an inertial measurement unit and visual odometry. The filter estimate is then compared to the kinematic estimate to determine whether slippage has occurred, taking into account estimate uncertainties. If slippage is detected, the slip vector is calculated by differencing the current Kalman filter estimate from the kinematic estimate. This slip vector is then used to determine the necessary wheel velocities and steering angles to compensate for slip and follow the desired path.
Year
DOI
Venue
2006
10.1163/156855306778792470
ADVANCED ROBOTICS
Keywords
Field
DocType
rover navigation,visual odometry,slip compensation,Kalman filter,rover kinematics
Computer vision,Kinematics,Visual odometry,Control theory,Odometry,Slip (materials science),Kalman filter,Slippage,Inertial measurement unit,Artificial intelligence,Engineering,Mars rover
Journal
Volume
Issue
ISSN
20
11
0169-1864
Citations 
PageRank 
References 
24
1.34
11
Authors
6
Name
Order
Citations
PageRank
Daniel M. Helmick120815.78
Stergios I. Roumeliotis22124151.96
Yang Cheng3241.68
Daniel S. Clouse4342.84
Max Bajracharya522418.15
Larry H. Matthies695879.64