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Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna

Bussmann, Kristin and Meyer, Lukas and Steidle, Florian and Wedler, Armin (2018) Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2449-2456. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1-5 Oct 2018, Madrid, Spain. DOI: 10.1109/IROS.2018.8594294 ISSN 2153-0866

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Official URL: https://ieeexplore.ieee.org/document/8594294

Abstract

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.

Item URL in elib:https://elib.dlr.de/126951/
Document Type:Conference or Workshop Item (Speech)
Title:Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bussmann, KristinKristin.Bussmann (at) dlr.deUNSPECIFIED
Meyer, LukasLukas.Meyer (at) dlr.dehttps://orcid.org/0000-0001-9514-8494
Steidle, FlorianFlorian.Steidle (at) dlr.deUNSPECIFIED
Wedler, ArminArmin.Wedler (at) dlr.deUNSPECIFIED
Date:2018
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/IROS.2018.8594294
Page Range:pp. 2449-2456
ISSN:2153-0866
Status:Published
Keywords:Slip modeling, slip estimation, planetary rover, field test
Event Title:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Madrid, Spain
Event Type:international Conference
Event Dates:1-5 Oct 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Meyer, Lukas
Deposited On:01 Apr 2019 10:12
Last Modified:31 Jul 2019 20:24

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