Lakatos, Kristin und Baldauf, Niklas und Turnwald, Alen (2024) Towards learning-based trajectory tracking control for a planetary exploration rover: Development and testing. In: 2024 International Conference on Space Robotics, iSpaRo 2024, Seiten 299-306. International Conference on Space Robotics, 2024-06-24 - 2024-06-27, Luxembourg. doi: 10.1109/iSpaRo60631.2024.10687897. ISBN 979-835036723-2.
PDF
1MB |
Kurzfassung
Slip estimation and compensation are crucial factors for the success of ground-based planetary exploration missions. This work presents the development and implementation of a test campaign for the systematic evaluation of trajectory tracking controllers for a planetary exploration rover. The performed tests focus on machine learning algorithms for wheel-ground interaction. The control approaches are developed and tested both in simulation and on a rover prototype in a space-analog scenario. First results comparing the performance of the classical tracking controllers and their learning-based extensions are presented. The results imply that the use of machine learning techniques can improve the tracking performance on difficult terrain significantly.
elib-URL des Eintrags: | https://elib.dlr.de/205478/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Towards learning-based trajectory tracking control for a planetary exploration rover: Development and testing | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 24 Juni 2024 | ||||||||||||||||
Erschienen in: | 2024 International Conference on Space Robotics, iSpaRo 2024 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/iSpaRo60631.2024.10687897 | ||||||||||||||||
Seitenbereich: | Seiten 299-306 | ||||||||||||||||
ISBN: | 979-835036723-2 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | planetary exploration rover, wheel-ground interaction, slip compensation, machine learning, model predictive control | ||||||||||||||||
Veranstaltungstitel: | International Conference on Space Robotics | ||||||||||||||||
Veranstaltungsort: | Luxembourg | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 24 Juni 2024 | ||||||||||||||||
Veranstaltungsende: | 27 Juni 2024 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Planetare Exploration | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Lakatos, Kristin | ||||||||||||||||
Hinterlegt am: | 25 Jul 2024 08:19 | ||||||||||||||||
Letzte Änderung: | 06 Nov 2024 21:22 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags