全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

Robust Adaptive Fuzzy Control for Planetary Rovers While Climbing up Deformable Slopes with Longitudinal Slip

DOI: 10.1155/2014/620890

Full-Text   Cite this paper   Add to My Lib

Abstract:

Mobility control is one of the most essential parts of planetary rovers’ research and development. The goal of this research is to let the planetary rovers be able to achieve demand of motion from upper level with satisfied control performance under the rough and deformable planetary terrain that often lead to longitudinal slip. The longitudinal slip influences the mobility efficiency obviously, especially on the major deformable slopes. Compared with the past works on normal stiff terrains, properties of soil and interaction between wheels and soil should be considered additionally. Therefore, to achieve the final goal, in this paper, wheel-soil dynamic model for six-wheel planetary rovers while climbing up deformable slopes with longitudinal slip is first built and control based in order to account for slip phenomena. These latter effects are then taken into account within terramechanics theory, relying upon nonlinear control techniques; finally, a robust adaptive fuzzy control strategy with longitudinal slip compensation is developed to reduce the effects induced by slip phenomena and modeling error. Capabilities of this control scheme are demonstrated via full scale simulations carried out with a six-wheel robot moving on sloped deformable terrain, whose real time was computed relying uniquely upon RoSTDyn, a dynamic software. 1. Introduction In the field of special mobile robots environment, including planetary exploration missions, caravan survey, polar expedition, and wild fire spreading, rovers may need to traverse on deformable terrains, and the interaction between rigid wheels and soft soil has become a meaningful research topic because of longitudinal slip influence mobility control obviously [1]. In the past works on normal stiff terrains, for example, Kanayama et al. [2] proposed a stable control scheme for an autonomous mobile robot under the assumption of perfect velocity tracking. Kim and Oh [3] proposed a modified input-output linearization method to solve the problem of a decoupling matrix using a generalized inverse that provided a least-squares solution to the tracking control of two-wheeled mobile robots. Raibert et al. [4] proposed a PID controller to solve the path tracking problem of a mobile robot using a simple linearized model of the mobile robot, which was composed of an integrator and a delay. Colombano et al. [5] proposed an output-feedback controller that allowed a unicycle mobile robot to track a predefined path. However, all of these control methods based on normal stiff terrains hypothesis of nonholonomic mobile robot

References

[1]  NASA Mars Science Laboratory Factsheet, http://www.nasa.gov/centers/goddard/news/topstory/2008/radiometer_delivery.html.
[2]  European Space Agency, ExoMars Science Management Plan: Doc. No: EXM-MS-PL-ESA-00002, 12th February 2010.
[3]  Google Lunar X Competition Rules, 2011, http://www.googlelunarxprize.org/les/downloads/lunar/GLXP Guidelines v3 Nov 20 2008.pdf.
[4]  M. Raibert, K. Blankespoor, G. Nelson, and R. Playt, “BigDog, the rough-terrain quaduped robot,” in Proceedings of the17th World Congress: The International Federation of Automatic Control, Seoul, Korea, July 2008.
[5]  S. Colombano, F. Kirchner, and D. Spenneberg, “Exploration of planetary terrains with a legged robot as a scout adjunct to a rover,” in Proceedings of the Institute of Aeronautics and Astronautics, Space Conference, San Diego, Calif, USA, 2004.
[6]  S. Bartsch, T. Birnschein, F. Cordes et al., “SpaceClimber: development of a six-legged climbing robot for space exploration,” in Proceedings of the 41st International Symposium on Robotics, pp. 1265–1272, June 2010.
[7]  G. P. Scott and C. M. Saaj, “Measuring and simulating the effect of variations in soil properties on microrover tracability,” in Proceedings of the SPACE Conference, American Institute of Aeronautics and Astronautics, Pasadena, Calif, USA, 2009.
[8]  M. Bekker, Introduction to Terrain Vehicle Systems, Part 1—The Terrain & Part 2—The Vehicle, vol. 2, University of Michigan Press, Ann Arbor, Mich, USA, 1959.
[9]  E. McKyes, Soil Cutting and Tillage, Elsevier Science, Amsterdam, The Netherlands, 1985.
[10]  K. Terzaghi, Theoretical Soil Mechanics, John Wiley & Sons, London, UK, 3rd edition, 1943.
[11]  A. R. Reece, “The fundamental equation of earth-moving mechanics,” Proceedings of the Institution of Mechanical Engineers, Conference Proceedings, vol. 179, no. 6, pp. 16–22, 1964.
[12]  R. D. Grisso and J. V. Perumpral, “A soil tool interaction model for narrow tillage tools,” American Society of Agricultural Engineers (ASAE), 1980.
[13]  C. Brunskill and V. Lappas, “The effect of relative soil density on microrover tra-cability under low ground pressure conditions,” in Prceedings of the 11th European Regional Conference of the International Society for Terrain-Vehicle Systems, Bremen, Germany, 2009.
[14]  J. Y. Wong, Theory of Ground Vehicles, John Wiley & Sons, New York, NY, USA, 4th edition, 2008.
[15]  Z. Janosi and B. Hanamoto, “The analytical determination of drawbar pull as a function of slip for tracked vehicles in deformable soils,” in Proceedings of the ISTVS 1st International Conference on Mechanics of Soil-Vehicle Systems, pp. 707–736, Edizioni Minerva Tecnica, Torino, Italy, 1961.
[16]  R. Godbole and R. Alcock, “A device for the in situ determination of soil deformation modulus,” Journal of Terramechanics, vol. 32, no. 4, pp. 199–204, 1995.
[17]  A. R. Reece, Problems of Soil-Vehicle Mechanics, US Army Land Locomotion Lab, ATAC, Warren, Mich, USA, 1964.
[18]  L. Richter, A. Ellery, Y. Gao, S. Michaud, N. Schmitz, and S. Weiss, A Predictive Wheel-Soil Interaction Model for Planetary Rovers Validated in Testbeds and Against MER Mars Rover Performance Data, Budapest, Hungary, 2006.
[19]  M. Lyasko, “Slip sinkage effect in soil-vehicle mechanics,” Journal of Terramechanics, vol. 47, no. 1, pp. 21–31, 2010.
[20]  A. Ellery, “Environment-robot interaction—the basis for mobility in planetary micro-rovers,” Robotics and Autonomous Systems, vol. 51, no. 1, pp. 29–39, 2005.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133