Bussmann, Kristin und Meyer, Lukas und Steidle, Florian und Wedler, Armin (2018) Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Seiten 2449-2456. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/IROS.2018.8594294. ISBN 978-153868094-0. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/8594294
Kurzfassung
For wheeled mobile systems, the wheel odometry is an important source of information about the current motion of the vehicle. It is used e.g. in the context of pose estimation and self-localization of planetary rovers, which is a crucial part of the success of planetary exploration missions. Depending on the wheel-soil interaction properties, wheel odometry measurements are subject to inherent errors such as wheel slippage. In this paper, a parameter-based approach for whole-body slip modeling and calibration is applied to a four-wheeled lightweight rover system. Details on the method for slip parameter calibration as well as the system-specific implementation are given. Experimental results from a test campaign on Mt. Etna are presented, showing significant improvements of the resulting wheel odometry measurements. The results are validated during a long range drive of approx. 900 m and discussed w. r. t. the advantages but also limitations of the method within a space exploration scenario.
elib-URL des Eintrags: | https://elib.dlr.de/126951/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna | ||||||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||||||
Erschienen in: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/IROS.2018.8594294 | ||||||||||||||||||||
Seitenbereich: | Seiten 2449-2456 | ||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||
ISBN: | 978-153868094-0 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Slip modeling, slip estimation, planetary rover, field test | ||||||||||||||||||||
Veranstaltungstitel: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||
Veranstaltungsort: | Madrid, Spain | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 1 Oktober 2018 | ||||||||||||||||||||
Veranstaltungsende: | 5 Oktober 2018 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Projekt MOREX [SY] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Burkhard, Lukas | ||||||||||||||||||||
Hinterlegt am: | 01 Apr 2019 10:12 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:30 |
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